Tilt rotor tricopter : control system for the holonomic multirotor platform

Masteroppgave i mekatronikk MAS500 2013 – Universitetet i Agder, GrimstadDevelopment of a new approach to the multicopter segment of the Unmanned Areal Vehicle (UAV) family is presented. The system is designed on a T-shaped tricopter platform with ability to tilt all three motors, hereby defined as Tilt Rotor Tricopter (TRT). The highly coupled nonlinear system is investigated through the mathematical model, and verified by simulations. Linearization of the system has been achieved around hovering conditions, and represented in the state-space environment. The Linear Quadratic Regulator (LQR) has been implemented on the physical system, achieving controllable flight. As the prestudy discovered no identical platforms to the TRT, we are proud to present a working new segment to the diversity of multicopter platforms