Modeling and Hover Control of a Double-rotor Micro Flying Robot via Shape Change

Zhang, Yongheng M.S.E., Purdue University, August 2009. Modeling and Hover Control of a Double-Rotor Micro Flying Robot via Shape Change. Major Professor: Nasser Houshangi. Research in Micro Aerial Vehicles (MAVs) has been proliferating in both academia and industry during recent years due to their potential applications, e.g. search and rescue in the aftermath of an earthquake. Among others, coaxial double rotor MAVs have the desirable features in restricted indoor flight. However, the traditional mechanism for controlling rotorcraft’s attitude is too complex to apply on the MAVs. In this research, a conceptual design of a coaxial double-rotor micro flying robot which controls its attitude by the Center of Gravity (CoG) shifting mechanism is presented. A quasi rigid body model and a multi rigid body system model are derived respectively for the robot which is the main contribution of this research. Linear Quadratic Regulator (LQR) based on the two models which stabilize the attitude are also studied. Simulation results show the feasibility of the approaches.