Multicopter Flight Control
Fundamentals of Flight Mechanics, Control Allocation, and Control Design
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Beschreibung
This book presents a comprehensive discussion of the mechanical modelling and control of multicopters, more commonly referred to as drones. By selecting concepts for presentation based on their ease of comprehension and suitability for practical application, the author employs a straightforward and concise approach. A main objective is to examine both the theoretical and practical aspects, as well as their interrelationship. The book presents the fundamental functional algorithms of a multicopter flight control system, specifically:
- control allocation, or the distribution of a control demand among redundant actuators;
- low-level control loops to control rotational and vertical motion;
- simple guidance loops controlling the translational motion of a multicopter; and
- an introduction to Kalman filtering, which addresses the fusion of direct sensor measurement in order to estimate the state of the drone.
These methods enable remotely piloted operation and preplanned path following.
Multicopter Flight Control will be of particular interest to academic researchers and graduate students working in the field of aerospace engineering, as well as to practising engineers engaged in the development of drones and electric vertical take-off and landing aircraft. It provides a comprehensive and practical guide to the fundamentals of flight control and guidance techniques, offering valuable insights for those seeking to gain a deeper understanding of these topics. In order to derive the greatest benefit from reading this monograph, readers should possess a fundamental understanding of multiple-input, multiple-output system theory, particularly state-space representation, stability and feedback control. Additionally, a basic comprehension of rotor aerodynamics and rigid-body dynamics is essential.
This book presents a comprehensive discussion of the mechanical modelling and control of multicopters, more commonly referred to as drones. By selecting concepts for presentation based on their ease of comprehension and suitability for practical application, the author employs a straightforward and concise approach. A main objective is to examine both the theoretical and practical aspects, as well as their interrelationship. The book presents the fundamental functional algorithms of a multicopter flight control system, specifically:
- control allocation, or the distribution of a control demand among redundant actuators;
- low-level control loops to control rotational and vertical motion;
- simple guidance loops controlling the translational motion of a multicopter; and
- an introduction to Kalman filtering, which addresses the fusion of direct sensor measurement in order to estimate the state of the drone.
These methods enable remotely piloted operation and preplanned path following.
Multicopter Flight Control will be of particular interest to academic researchers and graduate students working in the field of aerospace engineering, as well as to practising engineers engaged in the development of drones and electric vertical take-off and landing aircraft. It provides a comprehensive and practical guide to the fundamentals of flight control and guidance techniques, offering valuable insights for those seeking to gain a deeper understanding of these topics. In order to derive the greatest benefit from reading this monograph, readers should possess a fundamental understanding of multiple-input, multiple-output system theory, particularly state-space representation, stability and feedback control. Additionally, a basic comprehension of rotor aerodynamics and rigid-body dynamics is essential.
Enables the reader to design basic control loops for a multicopter Combines theory and practical experience, helping readers to deal with real-world issues in multicopter flight control Gives readers practical insights into modeling and control techniques
Autor*in
Johannes Stephan
Themen in »Multicopter Flight Control«
Multicopter Flight Control Multicopter Flight Mechanics Multicopter Rotor Aerodynamics Control Allocation Feedback Control Design Fault Detection and Isolation State Estimation Attitude Control Position Control