A Novel Architecture for Multipurpose Reconfigurable Unmanned Aerial Vehicle (UAV): Concept, Design and Prototype Manufacturing

Ferreira, Murillo Augusto da Silva; Lopes, Guilherme Cano; Colombini, Esther Luna; Simões, Alexandre da Silva

doi:10.1109/lars/sbr/wre.2018.00085

Cited by 7 publications

(3 citation statements)

References 20 publications

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“…During these last years, reconfigurable UAVs have occupied a prominent place in the domain of flying systems and robotics. These new drones can eliminate several problems encountered in the conventional UAVs such as, the flying in congested areas, building inspection, fixed mechanical structure, design complexity, energy consumption, fault tolerant control and obstacles avoidance [1][2][3][4][5]. They are a promising solution in the near future due to their shape characteristics.…”

Section: Related Workmentioning

confidence: 99%

Nonlinear Robust Control of a New Reconfigurable Unmanned Aerial Vehicle

2021

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In this paper, a nonlinear robust Fast Terminal Sliding Mode Controller (FTSMC) is designed to control and stabilize a new reconfigurable Unmanned Aerial Vehicle (UAV) in the presence of uncertain and variable parameters. The studied UAV is an over-actuated system due the number of actuator control inputs. It can modify the length and the angles between its four arms in different ways, which result an important variation in its Center of Gravity (CoG), inertia, and control matrix. The proposed FTSMC offers many advantages such as, reaching the desired states in a finite-time unlike the conventional sliding mode, robustness vis-a-vis uncertain and unknown parameters, fast convergence towards the sliding surface, high accuracy and reducing the chattering phenomena. Furthermore, the closed-loop stability of the this UAV is ensured by the Lyapunov theory. The eight actuators used to rotate and extend the UAV arms are controlled by simple Proportional Integral Derivative (PID) controllers. Lastly, the robustness and efficiency of the proposed controller are evaluated through a flight scenario, where the UAV geometric parameters are variable over time.

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Section: Related Workmentioning

confidence: 99%

Nonlinear Robust Control of a New Reconfigurable Unmanned Aerial Vehicle

2021

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“…Modular UAVs such as those proposed in Refs (23,(59)(60)(61) are a new class of transformable UAVs, being composed of different modules that are interconnected with each other. This modularity allows such UAVs to become more flexible, encouraging their use in the areas of transport, parachuting and search and rescue.…”

Section: Related Workmentioning

confidence: 99%

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021

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Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

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“…Misuse, innovative use, or multi-stability can be eased or made more difficult in the design phase. For example, if a drone is easily adaptable, such as a modular drone [52], it will be straightforward to build a configuration which can be used for all types of activities, both beneficial and harmful. Limiting the capabilities of the system limits the possibility for uses that diverge from the intended use-plan.…”

Section: Misusementioning

confidence: 99%

Capability caution in UAV design

Cawthorne

Devos

2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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A Novel Architecture for Multipurpose Reconfigurable Unmanned Aerial Vehicle (UAV): Concept, Design and Prototype Manufacturing

Cited by 7 publications

References 20 publications

Nonlinear Robust Control of a New Reconfigurable Unmanned Aerial Vehicle

Nonlinear Robust Control of a New Reconfigurable Unmanned Aerial Vehicle

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

Capability caution in UAV design

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