Design, Manufacturing and Control of a Coaxial VTOL1 Micro UAV2, Based on Center of mass Steering

In recent years, the area of research on micro flying robots has been developed due to the development in micro manufacturingtechnologies. Due to extra advantages of these flying robots, they are implemented in military and civilian missions such asidentifying, espionage, aerial relays, traffic surveillance, rescue, aid, etc.Ability to fly in specified areas, without human injuries, low manufacturing and energy costs, easy and fast implementation,Easy Maintenance, etc, which are some advantages of these robots. We can control these robots manually by remote controllers (RC)or by Auto guidance systems. On the other hand, these robots are used in research laboratories for testing new control algorithmssuch as multiagent systems.In this research we use COG3 Displacement idea for lateral maneuvering in MFR4 and analyzing the results. Therefore westart with conceptual design of a coaxial VTOL5 MFR, then we continue the work by Detail Design and manufacturing a pilot modelof robot, finally we develop the dynamic model of robot in MATLAB and test the classical and Robust control algorithms on model forpreliminary maneuvering missions, to analysis and choosing the best algorithm for robot control

کلیدواژه ها:

COG Displacement ، VTOL ، UAV6 ، reinforcement controller ، Dynamic Modeling