Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism

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dc.contributor.authorIriarte, Imanol
dc.contributor.authorIglesias, Inaki
dc.contributor.authorLasa, Joseba
dc.contributor.authorCalvo-Soraluze, Hodei
dc.contributor.authorSierra, Basilio
dc.contributor.institutionINNOV_AIR_MOBIL
dc.date.issued2021-04
dc.descriptionPublisher Copyright: © 2013 IEEE.
dc.description.abstractThis article discusses the benefits of introducing a simple passive mechanism to enable rotor tilting in Vertical Take-Off and Landing (VTOL) multirotor vehicles. Such a system is evaluated in relevant Urban Air Mobility (UAM) passenger transport scenarios such as hovering in wind conditions and overcoming rotor failures. While conventional parallel axis multirotors are underactuated systems, the proposed mechanism makes the vehicle fully actuated in SE(3), which implies independent cabin position and orientation control. An accurate vehicle simulator with realistic parameters is presented to compare in simulation the proposed architecture with a conventional underactuated VTOL vehicle that shares the same physical properties. In order to make fair comparisons, controllers are obtained solving an optimization problem in which the cost function of both systems is chosen to be equivalent. In particular, the control laws are Linear-Quadratic Regulators (LQR), which are derived by linearizing the systems around hover. It is shown through extensive simulation that the introduction of a passive rotor tilting mechanism based on universal joints improves performance metrics such as vehicle stability, power consumption, passenger comfort and position tracking precision in nominal flight conditions and it does not compromise vehicle safety in rotor failure situations.en
dc.description.statusPeer reviewed
dc.format.extent13
dc.format.extent1676428
dc.identifier.citationIriarte , I , Iglesias , I , Lasa , J , Calvo-Soraluze , H & Sierra , B 2021 , ' Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism ' , IEEE Access , vol. 9 , 9411834 , pp. 64368-64380 . https://doi.org/10.1109/ACCESS.2021.3075113
dc.identifier.doi10.1109/ACCESS.2021.3075113
dc.identifier.issn2169-3536
dc.identifier.otherresearchoutputwizard: 11556/1126
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85104598147&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofIEEE Access
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsUrban air mobility (UAM)
dc.subject.keywordsAirtaxi
dc.subject.keywordsFully actuated vehicle
dc.subject.keywordsVTOL
dc.subject.keywordsLQR
dc.subject.keywordsOptimal control
dc.subject.keywordsWind gusts
dc.subject.keywordsRotor failure
dc.subject.keywordsVehicle performance metrics
dc.subject.keywordsUniversal joint
dc.subject.keywordsUrban air mobility (UAM)
dc.subject.keywordsAirtaxi
dc.subject.keywordsFully actuated vehicle
dc.subject.keywordsVTOL
dc.subject.keywordsLQR
dc.subject.keywordsOptimal control
dc.subject.keywordsWind gusts
dc.subject.keywordsRotor failure
dc.subject.keywordsVehicle performance metrics
dc.subject.keywordsUniversal joint
dc.subject.keywordsGeneral Computer Science
dc.subject.keywordsGeneral Materials Science
dc.subject.keywordsGeneral Engineering
dc.subject.keywordsSDG 3 - Good Health and Well-being
dc.subject.keywordsSDG 11 - Sustainable Cities and Communities
dc.titleEnhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanismen
dc.typejournal article
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