Autonomous Flight of Quadcopters in the Presence of Ground Effect

Ahmadinejad, Farzad; Bahrami, Javad; Menhaj, M B; Ghidary, Saeed Shiry

doi:10.1109/icspis.2018.8700556

Cited by 4 publications

(5 citation statements)

References 10 publications

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“…Coordinate frames transformation is used to transform quantities between the two reference frames. To avoid the nonlinearity, geometric singularity, and computational cost usually associated with the Euler angles [28], [29], the quaternion approach is applied for coordinate frames transformation. A quaternion is a hyper-complex number with four dimensions that include a scalar part q o , and a threedimensional vector part ⃗ q = [q i , q j , q k ] with orthonormal base [i, j, k] [30].…”

Section: Quaternion-based Mathematical Model Of Quadrotor Uav a Preli...mentioning

confidence: 99%

“…6R is considered as Out of Ground Effect (OGE) where GE is typically doesn't exist. Experiments show that at constant power, GE is mathematically expressed as [37], [44]…”

Section: B Quadrotor Flight Dynamics Modelingmentioning

confidence: 99%

“…γ is the correction coefficient, which is estimated from the experiment, and it's used to adjust unpredictable airflow influence between the rotors of the quadrotor, and R is the radius of the propellers. To account the effect of GE, the thrust force model is modified [44] as…”

Section: B Quadrotor Flight Dynamics Modelingmentioning

confidence: 99%

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Robust Tracking Control for Quadrotor UAV With External Disturbances and Uncertainties Using Neural Network Based MRAC

Madebo,

Abdissa,

Lemma

et al. 2024

IEEE Access

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In this paper, an intelligent Model Reference Adaptive Control (MRAC) based on a neural network is proposed for robust tracking control of quadrotor UAV under external disturbances and parameter variations. First, the singularity-free dynamic model of the quadrotor is developed using Newton-Quaternion formalism. Then, conventional MRAC is designed to generate training data. With the generated data, the Feed Forward Neural Network (FFNN) and Recurrent Neural Network (RNN) are trained offline to get an initial set of network parameters for position controller parameters estimation and attitude control of the quadrotor, respectively, and an online learning algorithm is developed to update those network parameters in real-time. Finally, the performance of the designed Neural network-based MRAC has been evaluated using a numerical simulation in a nominal scenario and by introducing parametric variation and external disturbances as matched and unmatched uncertainties into the system. The simulation results show that the proposed controller has a better tracking performance and disturbance rejection capability compared with the Linear Quadratic Regulator (LQR) and conventional MRAC. Furthermore, the utilized control efforts are minimal and smooth proving functional safety and economical use of the controller. Therefore, the suggested controller is feasible for real-time implementation of the quadrotor UAV.

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Section: Quaternion-based Mathematical Model Of Quadrotor Uav a Preli...mentioning

confidence: 99%

“…6R is considered as Out of Ground Effect (OGE) where GE is typically doesn't exist. Experiments show that at constant power, GE is mathematically expressed as [37], [44]…”

Section: B Quadrotor Flight Dynamics Modelingmentioning

confidence: 99%

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Robust Tracking Control for Quadrotor UAV With External Disturbances and Uncertainties Using Neural Network Based MRAC

Madebo,

Abdissa,

Lemma

et al. 2024

IEEE Access

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“…First of all, an explanation of the thrust in the phases of take-off and landing, and then in the phase of hovering, is given. [17] Thrust is a force perpendicular to the plane of the propeller. It is created by rotating the rotor at a certain speed.…”

Section: Thrust In Different Phases Of Flightmentioning

confidence: 99%

“…In simpler terms, the dynamics of the response depends on the number of revolutions of the engine. [17] From everything presented, the researchers came to the conclusion that there is no dependence on the time constant of the number of revolutions of the engine thrust in relation to the height from the ground when there is only one active rotor.…”

Section: Dynamic Analysis Of the Ground Effect At Low Speedsmentioning

confidence: 99%

Analysis of the performance and kinematics of the movement of UAV

Miloš,

Mirosavljević

2023

FME Transactions

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The use of drones today has become an integral part of modern life to the extent that the level of drone utilization determines the quality of life. The expansion of drone applications has grown exponentially. This growth is primarily due to their low acquisition and maintenance costs, as well as their versatility. First of all, their expansion is contributed by the low costs of both acquisition and maintenance, as well as the possibility of various applications. The paper aims to present drones and their advantages compared to traditional aircraft as a means of transportation. The paper includes an analysis of unmanned aircraft performance, an examination of the kinematics of unmanned aircraft movement, a discussion of the most common structure used in unmanned aircraft (the quadcopter), and a comprehensive assessment of the risks associated with unmanned aircraft and their potential integration into civil air traffic. The quadcopter structure, as the dominant solution for the production of unmanned aircraft, is discussed in detail. At the very end, an overall analysis of the risks posed by unmanned aircraft and, as such, whether they can be integrated into civil air traffic is given.

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