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1、2016InternationalConferenceonFrDTT3.5UnmannedAircraftSystems(ICUAS)June7-10,2016.Arlington,VAUSADesignconsiderationsforalargequadrotorwithmovingmasscontrolTomislavHaus,MatkoOrsag,StjepanBogdanAbstract—Inthispaperwepresentourongoingeffortstobuildaheavyliftmultirotorplatformcapableofliftingover5
2、0kgofpayload.SuchasystemrequiresaparadigmshiftinthedesignoftheUAV.Thereforeweproposeusingminiaturetwostrokeinternalcombustionenginestosupplythenecessaryliftandenduranceandcombinethemwithanovelcontrolconceptbasedonthevariationsofthecenterofgravity(CoG)ofthesystem.Inthispaperwepresentadetailedst
3、abilityandsensitivityanalysisoftheproposedcontrolschemeanddiscussitsunderliningeffectontheconstructiondesignparametrization.WepresentsimulationresultsfromaGazebobasedsimulatorthatcon?rmtheresultsofourmathematicalanalysis.I.INTRODUCTIONFig.1:ThegoalofMORUSprojectistodesignacooperativeautonomous
4、roboticsystemcomprisedofaUAVandanTheworkpresentedinthispaper?tswithinthescopeAUV,workingtogetheronmaritimeinspection.ofanongoingprojectcalledMORUSthataimstobuildacooperativeautonomousroboticsystemabletoworkbothinairandunderwater(Fig1).Tothatendanunmannedaerialvehicle(UAV)andanautonomousunderwa
5、tervehicle(AUV)DC,etc.)incars,to?ndthatthecurrentstateoftheartarebroughttoworktogetheronacommongoal,maritimebatterieslackthenecessarypowerdensityinordertoarchivesurveillance.Intheenvisionedscenario,theUAVhastobeaslongrangeasgasolinepoweredICengines.capableofliftingtheAUVandcarryingittoadesigna
6、tedAlthoughtherehasbeentremendousadvancesinthedrop-offpoint.productionofsmallcombustionengines,thereisagrowingEversincetheywereintroducedtothemainstream[1],concernwithintheroboticscommunity,thattheseenginesdoquadrotorshaveemergedasanumberoneresearchplat-nothavethenecessarydynamicalcapabilities
7、tostabilizetheformusedinaerialrobotics.Sincethen,numerouslinearquadrotorin?ight.Forinstance,theauthorsin[4],proposedandnonlinearcontrolalgorithmshavebeenproposedandanovelconceptofaquadrotorpoweredbyasinglefourtested.However,thesealgorit
