For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control m...For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control method for quadcopter to multi-copter with more than four rotors.Without relying on rotor fault information,this method is able to stabilize the multicopter with multiple rotor failures,which is validated on the hexacopter and octocopter using the hardware-in-the-loop simulations.Addi-tionally,the hardware-in-the-loop simulations demonstrate that a more significant tilt angle in flight will inhibit the maximum tolera-ble number of rotor failures of a multicopter.The more signifi-cant aerodynamic drag moment will make it difficult for the mul-ticopter to regain altitude control after rotor failure.展开更多
Three-dimensional(3 D) visual tracking of a multicopter(where the camera is fixed while the multicopter is moving) means continuously recovering the six-degree-of-freedom pose of the multicopter relative to the camera...Three-dimensional(3 D) visual tracking of a multicopter(where the camera is fixed while the multicopter is moving) means continuously recovering the six-degree-of-freedom pose of the multicopter relative to the camera. It can be used in many applications,such as precision terminal guidance and control algorithm validation for multicopters. However, it is difficult for many researchers to build a 3 D visual tracking system for multicopters(VTSMs) by using cheap and off-the-shelf cameras. This paper firstly gives an overview of the three key technologies of a 3 D VTSMs: multi-camera placement, multi-camera calibration and pose estimation for multicopters. Then, some representative 3 D visual tracking systems for multicopters are introduced. Finally, the future development of the 3D VTSMs is analyzed and summarized.展开更多
Overall, this paper explains the related information about VTOL and trend of this technology worldwide. Also, it comes up with the distinction among VTOL and helicopter and fixed wing aircraft. This paper concentrates...Overall, this paper explains the related information about VTOL and trend of this technology worldwide. Also, it comes up with the distinction among VTOL and helicopter and fixed wing aircraft. This paper concentrates on domestic and international drones that utilize VTOL technology. Also, this paper gives the explanation about VTOL’s performance and object. Furthermore, this paper predicts the future of VTOL and which area this technology going to be used.展开更多
基金supported by the National Natural Science Foundation of China(61973015).
文摘For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control method for quadcopter to multi-copter with more than four rotors.Without relying on rotor fault information,this method is able to stabilize the multicopter with multiple rotor failures,which is validated on the hexacopter and octocopter using the hardware-in-the-loop simulations.Addi-tionally,the hardware-in-the-loop simulations demonstrate that a more significant tilt angle in flight will inhibit the maximum tolera-ble number of rotor failures of a multicopter.The more signifi-cant aerodynamic drag moment will make it difficult for the mul-ticopter to regain altitude control after rotor failure.
基金supported by the National Key Research and Development Program of China (No. 2017YFB1300102)National Natural Science Foundation of China (No. 61803025)
文摘Three-dimensional(3 D) visual tracking of a multicopter(where the camera is fixed while the multicopter is moving) means continuously recovering the six-degree-of-freedom pose of the multicopter relative to the camera. It can be used in many applications,such as precision terminal guidance and control algorithm validation for multicopters. However, it is difficult for many researchers to build a 3 D visual tracking system for multicopters(VTSMs) by using cheap and off-the-shelf cameras. This paper firstly gives an overview of the three key technologies of a 3 D VTSMs: multi-camera placement, multi-camera calibration and pose estimation for multicopters. Then, some representative 3 D visual tracking systems for multicopters are introduced. Finally, the future development of the 3D VTSMs is analyzed and summarized.
文摘Overall, this paper explains the related information about VTOL and trend of this technology worldwide. Also, it comes up with the distinction among VTOL and helicopter and fixed wing aircraft. This paper concentrates on domestic and international drones that utilize VTOL technology. Also, this paper gives the explanation about VTOL’s performance and object. Furthermore, this paper predicts the future of VTOL and which area this technology going to be used.
