This paper presents a unified framework for addressing the stability analysis of the hovering condition for a multirotor vehicle. By linearization about a trim condition, a decoupled model made of four dynamic modes is derived. A set of stability derivatives is obtained and the effect on natural dynamic stability of design parameters such as arm dihedral and rotor tilt angles is analyzed. A numerical test case is finally discussed in support of the proposed approach.
de Angelis, E.L. (2018). Stability analysis of a multirotor vehicle hovering condition. AEROSPACE SCIENCE AND TECHNOLOGY, 72, 248-255 [10.1016/j.ast.2017.11.017].
Stability analysis of a multirotor vehicle hovering condition
de Angelis, Emanuele L.
2018
Abstract
This paper presents a unified framework for addressing the stability analysis of the hovering condition for a multirotor vehicle. By linearization about a trim condition, a decoupled model made of four dynamic modes is derived. A set of stability derivatives is obtained and the effect on natural dynamic stability of design parameters such as arm dihedral and rotor tilt angles is analyzed. A numerical test case is finally discussed in support of the proposed approach.File in questo prodotto:
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