Hopf Bifurcations of a Quadrotor with a Tilting Frame
Summary :
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.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E104-A No.3 pp.632-635
- Publication Date
- 2021/03/01
- Publicized
- 2020/09/17
- Online ISSN
- 1745-1337
- DOI
- 10.1587/transfun.2020EAL2062
- Type of Manuscript
- LETTER
- Category
- Nonlinear Problems
Authors
Akinori SAKAGUCHI
Osaka University
Takashi TAKIMOTO
Kitakyushu College
Toshimitsu USHIO
Osaka University
Keyword
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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
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@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},}
Copy
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 -
English
