Design of a Robotic Bicopter
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Date
2019
Authors
Arıkan, Kutluk Bilge
Ersan, Yagmur
Bagbasi, Aysen Suheyla
Basaranoglu, Ahmet Turgut
Arikan, Kutluk Bilge
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Ieee
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Abstract
This article presents a Bicopter type of a flying robot with two rotary-wing units which are placed in a tandem form on the chassis. The rotors are tilted by the aid of the tilt mechanism. Cascaded type of PID controllers are designed on the dynamical models for the attitude and altitude dynamics. The simulated control systems are implemented and tuned on the Naze32 flight controller which is connected to a Raspberry Pi single board computer for real-time applications. The real-time performance is monitored and evaluated during the tests and it is seen that the system is suitable for indoor type of robotic applications.
Description
Keywords
flying robots, bicopter, flight testing, pid tuning
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Citation
4
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Source
7th IEEE International Conference on Control, Mechatronics and Automation(ICCMA) -- NOV 06-08, 2019 -- Delft Univ Technol, Delft, NETHERLANDS
Volume
Issue
Start Page
98
End Page
103