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Thrust Control for Multirotor Aerial Vehicles

Bangura, Moses; Mahony, Robert


This paper presents a novel control algorithm to regulate the aerodynamic thrust produced by fixed-pitch rotors commonly used on small-scale electrically powered multirotor aerial vehicles. The proposed controller significantly improves on the disturbance rejection and gust tolerance of rotor thrust control compared to state-of-the-art RPM (revolutions per minute) rotor control schemes. The thrust modelling approach taken is based on a model of aerodynamic power generated by a...[Show more]

CollectionsANU Research Publications
Date published: 2017-03
Type: Journal article
Source: IEEE Transactions on Robotics
Access Rights: Open Access
Open Access


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