Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards

Hanoch Efraim; Amir Shapiro; Gera Weiss

doi:10.1007/s10846-015-0176-4

Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards

Hanoch Efraim, Amir Shapiro, Gera Weiss

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

Abstract

We study the effects of tilting the plane of rotations of the rotors of a quadrotor helicopter inwards, a structure inspired by the dihedral angle in fixed-wing airplanes. We show that this configuration yields effects that contribute to stability and reduce the dependency on velocity measurement which, in many cases, is hard to achieve at sufficient rate and accuracy. We present a theoretical analysis supported by simulations and by experiments.

Original language	English
Pages (from-to)	313-324
Number of pages	12
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	80
Issue number	2
DOIs	https://doi.org/10.1007/s10846-015-0176-4
State	Published - 1 Nov 2015

Keywords

Dihedral
Hover
Hovercraft
MAV
Quadrotor

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering
Artificial Intelligence

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10.1007/s10846-015-0176-4

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abstract = "We study the effects of tilting the plane of rotations of the rotors of a quadrotor helicopter inwards, a structure inspired by the dihedral angle in fixed-wing airplanes. We show that this configuration yields effects that contribute to stability and reduce the dependency on velocity measurement which, in many cases, is hard to achieve at sufficient rate and accuracy. We present a theoretical analysis supported by simulations and by experiments.",

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KW - Hover

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Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards

Abstract

Keywords

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