Stability and performance analysis of unmanned aerial vehicles: Quadrotor against Hexrotor

摘要

Multirotor helicopters are very powerful flying robots used in many applications, but their lack is robustness. A fail in any of their rotors can drive the helicopter to fall. In this study two different micro-helicopter structures are analysed, a standard Quadrotor and a Hexrotor. An uncertainty model is generated and a robust controller is designed. The structured singular value is used to test the robust stability and performance of these two plants, obtaining better results for Hex than Quadrotor. At the end of the study, a set of flight tests, where some of the motors are partially damaged, is presented confirming the analysis of . Results of this study show Hexrotor as a very interesting structure for unmanned aerial vehiclesbecause of its stability and performance characteristics compared with Quadrotor.