SYSTEM AND METHOD FOR CONTROL OF QUADROTOR AIR VEHICLES WITH TILTABLE ROTORS

摘要

A system and method of controlling quadrotor air vehicles (QRAV) that may include an additional two degrees of freedom for each of the four propellers of the QRAV. Each of the four rotors may be allowed to rotate (tilt) around two local axes selected from the x-axis (roll), y-axis (pitch), and z-axis (yaw). Control of the quadrotor including the additional two degrees of freedom allows thrust of each rotor to be direct in any direction of a semi-sphere. As a result, total control inputs of the QRAV may be increased to twelve, enabling smooth control to achieve superior and precise maneuverability. Additionally, the system and method is fault tolerant and capable of handling failures of any of the rotors. Commands to the propellers may be fully decoupled and achieved independently thereby giving pilots better control to execute difficult maneuvers.

主权项

1. An air vehicle comprising:
a flight computer; a fuselage; and four rotors mounted symmetrically to the fuselage, each of the four rotors including servo mechanism to tilt each of the four rotors about two axes of each respective rotor, wherein the flight computer is configured to send control parameters to each of the four rotors, the control parameters including a rotational speed, a first tilt angle about a first axis of the two axes of each respective rotor, and a second tilt angle about a second axis of the two axes of each respective rotor.