The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Dans nos travaux précédents, nous avons développé un quadrirotor avec un cadre inclinable utilisant le mécanisme de liaison parallèle. Il peut incliner son châssis dans le sens du tangage en entraînant un seul servomoteur. Cependant, il présente une singularité telle que le couple d'entrée dans la direction du tangage est égal à 0 à l'état incliné ±π/2. Dans cette lettre, nous analysons la bifurcation de Hopf du quadrirotor contrôlé autour de la singularité et montrons que le cycle limite stable se produit dans la direction du tangage par simulation et expériences.
Akinori SAKAGUCHI
Osaka University
Takashi TAKIMOTO
Kitakyushu College
Toshimitsu USHIO
Osaka University
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copier
Akinori SAKAGUCHI, Takashi TAKIMOTO, Toshimitsu USHIO, "Hopf Bifurcations of a Quadrotor with a Tilting Frame" in IEICE TRANSACTIONS on Fundamentals,
vol. E104-A, no. 3, pp. 632-635, March 2021, doi: 10.1587/transfun.2020EAL2062.
Abstract: In our previous work, we developed a quadrotor with a tilting frame using the parallel link mechanism. It can tilt its frame in the pitch direction by driving only one servo motor. However, it has a singularity such that the input torque in the pitch direction equals 0 at ±π/2 tilted state. In this letter, we analyze the Hopf bifurcation of the controlled quadrotor around the singularity and show the stable limit cycle occurs in the pitch direction by simulation and experiments.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2020EAL2062/_p
Copier
@ARTICLE{e104-a_3_632,
author={Akinori SAKAGUCHI, Takashi TAKIMOTO, Toshimitsu USHIO, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Hopf Bifurcations of a Quadrotor with a Tilting Frame},
year={2021},
volume={E104-A},
number={3},
pages={632-635},
abstract={In our previous work, we developed a quadrotor with a tilting frame using the parallel link mechanism. It can tilt its frame in the pitch direction by driving only one servo motor. However, it has a singularity such that the input torque in the pitch direction equals 0 at ±π/2 tilted state. In this letter, we analyze the Hopf bifurcation of the controlled quadrotor around the singularity and show the stable limit cycle occurs in the pitch direction by simulation and experiments.},
keywords={},
doi={10.1587/transfun.2020EAL2062},
ISSN={1745-1337},
month={March},}
Copier
TY - JOUR
TI - Hopf Bifurcations of a Quadrotor with a Tilting Frame
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 632
EP - 635
AU - Akinori SAKAGUCHI
AU - Takashi TAKIMOTO
AU - Toshimitsu USHIO
PY - 2021
DO - 10.1587/transfun.2020EAL2062
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E104-A
IS - 3
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - March 2021
AB - In our previous work, we developed a quadrotor with a tilting frame using the parallel link mechanism. It can tilt its frame in the pitch direction by driving only one servo motor. However, it has a singularity such that the input torque in the pitch direction equals 0 at ±π/2 tilted state. In this letter, we analyze the Hopf bifurcation of the controlled quadrotor around the singularity and show the stable limit cycle occurs in the pitch direction by simulation and experiments.
ER -