Abstract:

As each propulsor of a multicopter can only provide unidirectional thrust, the controllability analysis and quantification problem need to be carefully studied. Based on the existing results, this paper studies the controllability analysis method for multicopters when the product of inertia should not be neglected. Besides, a new controllability quantification index is proposed to show the degree of controllability. Compared with the available control authority index (ACAI), the new index proposed can show the effect of product of inertia to the controllability of multicopters whilst the new index performs the same functions as the ACAI. Finally, simulation results show the effectiveness of the proposed controllability analysis method and the new controllability quantification index.