06.2 - Flight Dynamics and Control (UAV related)
MULTIROTOR VEHICLES DESIGN BASED ON DYNAMIC MANIPULABILITY FOR UNDERACTUATED FLYING SYSTEMS
Y. Matsumura¹, M. Bando¹, S. Hokamoto¹; ¹Kyushu Univ., Japan
This paper describes a design procedure for multirotor vehicles by applying a new Dynamic Manipulability Measure (DMM). The proposed DMM can be defined for flying rotorcrafts which have not full controllability for three-dimensional translational motion. Through applying the developed DMM, we can compare the control performances of multirotor vehicles as well as aerodynamic performances.