• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.137-148
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• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.