Attitude tracking control for aerobatic helicopters: A geometric approach

Raj, Nidhish; Banavar, Ravi N.; Abhishek, Amit; Kothari, Mangal

doi:10.1109/cdc.2017.8263934

Cited by 8 publications

(6 citation statements)

References 15 publications

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“…The present work emphasizes on the inclusion of the rotor dynamics in the design of attitude tracking controller for small scale aerobatic helicopters. It is an improvement over the simple attitude tracking controller proposed by the authors in [17]. The backstepping technique employed in the previous work warranted the removal of damping term from the dynamics for performing aggressive maneuvers.…”

Section: B Contributionmentioning

confidence: 99%

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

Raj

Banavar

Abhishek

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The first, employs the angular velocity and the flap angle states (a variable that is not easy to measure) and uses a backstepping technique to design a robust compensator (BRC) to actively suppress the disturbance induced tracking error. 2. The second exploits the inherent damping present in the helicopter dynamics leading to a structure preserving, passively robust controller (SPR), which is free of angular velocity and flap angle feedback. The BRC controller is designed to be robust in the presence of two types of uncertainties: structured and unstructured. The structured disturbance is due to uncertainty in the rotor parameters, and the unstructured perturbation is modeled as an exogenous torque acting on the fuselage. The performance of the controller is demonstrated in the presence of both types of disturbances through numerical simulations. In contrast, the SPR tracking controller is derived such that the tracking error dynamics inherits the natural damping characteristic of the helicopter. The SPR controller is shown to be almost globally asymptotically stable and its performance is evaluated experimentally by performing aggressive flip maneuvers. Throughout the study, a nonlinear coupled rotor-fuselage helicopter model with first order flap dynamics is used.

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Section: B Contributionmentioning

confidence: 99%

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

Raj

Banavar

Abhishek

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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“…In [11], a novel bi-plane quadrotor is introduced with corresponding theoretical model and controller synthesis. This idea was extended in [49] by incorporating a passive rotary joint in between the two wings, allowing the rotors to swivel and thereby increase yaw torque authority. The recent work [20] improves upon the switching control system approach by designing a unified controller, and is another early work to account for the propeller aerodynamics in forward flight, specifically in axial flow.…”

Section: Literature Reviewmentioning

confidence: 99%

“…where the maps F PT (•), M B P (•), F B P (•) are given in ( 26)-( 27), respectively, and 12), but with the aeroelastic noise component set to zero. To solve (49), the approximation of F PH ≈ 0 is made, as discussed in Section 3.3, and additionally…”

Section: Inner Control Allocationmentioning

confidence: 99%

An Annular Wing VTOL UAV: Flight Dynamics and Control

Gill

D’Andrea

2020

Drones

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A vertical takeoff and landing, unmanned aerial vehicle is presented that features a quadrotor design for propulsion and attitude stabilization, and an annular wing that provides lift in forward flight. The annular wing enhances human safety by enshrouding the propeller blades. Both the annular wing and the propulsion units are fully characterized in forward flight via wind tunnel experiments. An autonomous control system is synthesized that is based on model inversion, and accounts for the aerodynamics of the wing. It also accounts for the dominant aerodynamics of the propellers in forward flight, specifically the thrust and rotor torques when subject to oblique flow conditions. The attitude controller employed is tilt-prioritized, as the aerodynamics are invariant to the twist angle of the vehicle. Outdoor experiments are performed, resulting in accurate tracking of the reference position trajectories at high speeds.

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“…Generally speaking, biplane quadrotor tail-sitter UAVs usually have quad fixed-pitch rotors and dual wings without a stagger angle because of the necessity of keeping the plane motor level [30]. Raj.…”

Section: Introductionmentioning

confidence: 99%

“…Raj. N. developed a novel swiveling biplane quadrotor tail-sitter; its upper and lower wings twist around the roll axis to use the propeller pull component to generate yaw torque to enhance yaw channel control capabilities [30]. This kind of configuration improves compactness and the control margin by sacrificing the lift-to-drag ratio to a certain degree [31].…”

Section: Introductionmentioning

confidence: 99%

A Comprehensive Design and Experiment of a Biplane Quadrotor Tail-Sitter UAV

Qiao

Wang

et al. 2023

Drones

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Tail-sitter unmanned aerial vehicles (UAVs) are promising vertical takeoff and landing (VTOL) UAV suitable for multi-missions but the road to the commercialization of tail-sitter UAVs is tortuous. This paper aims to provide a systematic design methodology and present the development process for a novel biplane quadrotor tail-sitter UAV platform named TW10 to accelerate commercialization of this type of UAV. All the design choices and trade-offs in aerodynamics, structure, avionics, and the control scheme are detailed. A simulation and real flight test results are demonstrated to prove the feasibility of our design methodology. TW10 can carry a 1 kg mission load to achieve more than 2.5 h of flight time. This work serves as a meaningful reference for the promotion of tail-sitter UAVs in practical industrial applications.

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Attitude tracking control for aerobatic helicopters: A geometric approach

Cited by 8 publications

References 15 publications

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

An Annular Wing VTOL UAV: Flight Dynamics and Control

A Comprehensive Design and Experiment of a Biplane Quadrotor Tail-Sitter UAV

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