Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster Mechanism
<|reference_start|>Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster Mechanism: In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the Newton-Euler approach. Using the force decomposition technique, a mapping between the control wrench and actuator inputs is developed. A nonlinear position control is applied for the Bi-Quadcopter using the quaternion-based cascaded attitude controller. The performance of the proposed UAV with the control algorithm is verified through simulations. Finally, the actuator failure scenarios were analyzed.<|reference_end|>
@article{vundela2024modeling,
    title={Modeling and Control of a Novel Bi-Quadcopter with Auxiliary Thruster
  Mechanism},
    author={Vijay Reddy Vundela, Vijay Muralidharan},
    journal={arXiv preprint arXiv:2405.18787},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.18787},
    primaryClass={eess.SY cs.SY}
}