Accurate Modeling and Robust Hovering Control for a Quad–rotor VTOL Aircraft

Kim, Jinhyun; Kang, Min-Sung; Park, Sangdeok

doi:10.1007/s10846-009-9369-z

Cited by 137 publications

(74 citation statements)

References 15 publications

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“…Several detailed descriptions of the modeling of quadrotors and their dynamics have been published recently [1][2][3][4]. Considerable work also exists on various control schemes for controlling quadrotors [5][6][7][8].…”

Section: Related Workmentioning

confidence: 99%

Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight

Cutler

How

2015

Journal of Dynamic Systems, Measurement, and Control

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Fixed-pitch quadrotors are popular research and hobby platforms largely due to their mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the possible flight maneuvers. This paper shows that many of these limitations can be overcome by utilizing variable-pitch propellers on a quadrotor. A detailed analysis of the potential benefits of variable-pitch propellers over fixed-pitch propellers for a quadrotor is presented. This analysis is supported with experimental testing to show that variable-pitch propellers, in addition to allowing for generation of reverse thrust, substantially increase the maximum rate of thrust change. A nonlinear, quaternion-based control algorithm for controlling the quadrotor is also presented with an accompanying trajectory generation method that finds polynomial minimum-time paths based on actuator saturation levels. The control law and trajectory generation algorithms are implemented on a custom variable-pitch quadrotor. Several flight tests are shown, which highlight the benefits of a variable-pitch quadrotor over a standard fixed-pitch quadrotor for performing aggressive and aerobatic maneuvers.

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Section: Related Workmentioning

confidence: 99%

Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight

Cutler

How

2015

Journal of Dynamic Systems, Measurement, and Control

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“…It was assumed here that the propellers are driven directly by the thrust, which can be deduced from the propeller's rotational speed in line with equation (8). The rotational speed is therefore controlled by a simple differential thrust between the two propellers.…”

Section: Rotational Speed Controller Of the Propellersmentioning

confidence: 99%

“…For example, [7] used an external trajectory device yielding very fast dynamics, which was able to accurately measure both the position and the attitude of a robot equipped with markers. Likewise, [8] used a simple external CCD camera to measure the positions of two LED markers onboard a quadrotor. Although external visual sensing devices of this kind are quite accurate, their visual computational resources often have to be provided by a ground-based host computer.…”

Section: Introductionmentioning

confidence: 99%

Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments

Manecy

Marchand

Viollet

2014

International Journal of Advanced Robotic Systems

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Hovering flies are able to stay still in place when hovering above flowers and burst into movement towards a new object of interest (a target). This suggests that sensorimotor control loops implemented onboard could be usefully mimicked for controlling Unmanned Aerial Vehicles (UAVs). In this study, the fundamental head-body movements occurring in free-flying insects was simulated in a sighted twin-engine robot with a mechanical decoupling inserted between its eye (or gaze) and its body. The robot based on this gaze control system achieved robust and accurate hovering performances, without an accelerometer, over a ground target despite a narrow eye field of view (±5 • ). The gaze stabilization strategy validated under Processor-In-the-Loop (PIL) and inspired by three biological Oculomotor Reflexes (ORs) enables the aerial robot to lock its gaze onto a fixed target regardless of its roll angle. In addition, the gaze control mechanism allows the robot to perform short range target to target navigation by triggering an automatic fast "target jump" behaviour based on a saccadic eye movement.

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“…Courbon et al (2009) presents a vision-based navigation strategy for autonomous flight. Kim et al (2010) discuss the implementation of classic controllers for hovering maneuvers. Scaramuzza et al (2010) proposes a novel vision based technique for localizing the aerial vehicle using a monocular downward camera.…”

Section: Quadrotorsmentioning

confidence: 99%