Design and Fabrication of a Quadrotor with Dihedral Angle Capability and its Dynamic Modeling and Motion Control, M.Sc. Thesis Sharif University of Technology ; Alasti, Aria (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
As the leading kind of multi-rotors, quadrotors have become one of the most popular Unmanned Areal Vehicles (UAVs). These robots are very agile, but their speed is limited when performing decent maneuvers. In this project, a special quadrotor with dihedral-rotating arms is presented in order to increase the decent velocity of the vehicle. The conceptual and detailed designs of the vehicle are presented first, followed by the construction of the quadrotor. The fabricated quadrotor measures 25 cm in size, has a weight of about 1 kg, and can support up to 70 degrees of dihedral angle. Afterwards, the dynamic equations of the dihedral quadrotor are driven and simulated. The effects of dihedral...
Cataloging briefDesign and Fabrication of a Quadrotor with Dihedral Angle Capability and its Dynamic Modeling and Motion Control, M.Sc. Thesis Sharif University of Technology ; Alasti, Aria (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
As the leading kind of multi-rotors, quadrotors have become one of the most popular Unmanned Areal Vehicles (UAVs). These robots are very agile, but their speed is limited when performing decent maneuvers. In this project, a special quadrotor with dihedral-rotating arms is presented in order to increase the decent velocity of the vehicle. The conceptual and detailed designs of the vehicle are presented first, followed by the construction of the quadrotor. The fabricated quadrotor measures 25 cm in size, has a weight of about 1 kg, and can support up to 70 degrees of dihedral angle. Afterwards, the dynamic equations of the dihedral quadrotor are driven and simulated. The effects of dihedral...
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