Design and Control System of a Fully Actuated UAV for Mines Monitoring

This study presents a novel design and control system for an octo-rotor aerial vehicle featuring a unique configuration enabling comprehensive maneuverability through a six-component force vector. The proposed framework facilitates unmanned aerial vehicles (UAVs) in executing precise tasks such as surface monitoring within mining environments. UAV must adeptly position a scanning device in close proximity to solid surfaces, following predefined trajectories, experiencing fluctuating and turbulent wind conditions. Additionally, a tailored multirotor architecture is introduced to fulfill the operational demands of the UAV. Development of a control system represented by a mathematical model governing the regulation of rotor velocities based on the requisite force vector. This approach to the design and control of an eight-rotor aerial vehicle, characterized by its full controllability, holds promise for advancing UAV capabilities in tasks that need positioning precision.