Control of Aerial Robots: Hybrid Force and Position Feedback for a Ducted Fan

Marconi, Lorenzo; Naldi, Roberto

doi:10.1109/mcs.2012.2194841

Cited by 55 publications

(4 citation statements)

References 28 publications

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“…Robustness issues have been considered in the preliminary stages, and an adaptive algorithm to estimate system friction has been designed. Later, Marconi and Naldi presented control solutions for UAVs that were physically interacting with the environment [10]. Likewise, the problem of modeling and controlling a DFAV equipped with a fully-actuated robotic arm is addressed in [11].…”

Section: Introductionmentioning

confidence: 99%

Lyapunov Stability of a Planar Vertical Take-Off and Landing Aircraft Exerting a Force in the Environment

Lozano

Calderón

González-Hernández

2022

Drones

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This work proposes a simplified control method to stabilize the model of a nonlinear Planar Vertical Take-Off and Landing (PVTOL) system when a constant force is applied in the horizontal axis. Since the stability analysis is based on a Lyapunov function, exponential stability is guaranteed when the initial conditions fall inside a domain of attraction that is also specified. The performance of the suggested control algorithm is demonstrated using numerical simulations.

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Section: Introductionmentioning

confidence: 99%

Lyapunov Stability of a Planar Vertical Take-Off and Landing Aircraft Exerting a Force in the Environment

Lozano

Calderón

González-Hernández

2022

Drones

View full text Add to dashboard Cite

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“…In addition, a prominent advantage of ducted-fan system is better overall efficiency at low speeds [1]. In this respect, also inspired by the previous works considering test-fly methods in control [2,3], the aircraft considered here is a tandem ducted-fan vehicle configuration characterized by a very simple mechanical structure, composed only of two tandem contra-rotating propellers inside the vehicle's fuselage, a number of control vanes which deviate the propeller's air flow in order to obtain full controllability of the attitude dynamics (see also [1,4]) and a set of auxiliary "direct force control" with small lateral electric ducted fans (EDFs).…”

Section: Introductionmentioning

confidence: 99%

Flight Control Development and Test for an Unconventional VTOL UAV

Wang¹,

Chen²,

Ma³

et al. 2016

Autonomous Vehicle

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This chapter deals with the control system development and flight test for an unconventional flight vehicle, namely, a tandem ducted-fan experimental flying platform. The first-principle modeling approach combined with the frequency system identification has been adopted to obtain a high-fidelity dynamics model. It is inherently less stable and difficult to control. To accomplish the required practical flight tasks, the flying vehicle needs to work well even in windy conditions. Moreover, for flight control engineers, simple prescribed multi-loop controller structures are preferred. To handle the multiple problems, a structured velocity controller consisting of two feedback loops is developed, where inner loop provides stability augmentation and decoupling, and the outer loop guarantees desired velocity tracking performance. The simultaneous design of the two-loop controllers under multiple performance requirements in the usual H ∞ metrics can be cast as a nonsmooth optimization program. To compensate for changes in plant dynamics across the flight envelope, a smooth and compact polynomial scheduling formula is implemented as a function of the forward flight speed. Both simulations and flight test results have been presented in this work to showcase the potential for the proposed robust nonlinear control system to optimize the performance of UAV, specifically unconventional vehicles.

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“…2.1 visualizes its inspection concept for crack detection on the wall. Afterward, this project provoked further research in academia Figure 2.1: An AIRobot project prototype: ducted fan inspector [2] and industry. A spin-off company called ALSTOM Inspection Robotics came into the picture with a specific purpose for the industrial inspection operations.…”

Section: Contact Phase Operationsmentioning

confidence: 99%

“…On the other hand, implementation issues are not discussed. The details of the configuration and modeling are explained in [2]. Except for the coaxial ducted-fan system, a quadrotor, which is instrumented with a manipulator, is designed within the frame of the AIRobot project [30,32,82].…”

Section: Lyapunov-based Approachesmentioning

confidence: 99%

Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

Koçer¹

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Modern cities are dependent on basic services like water and sewer systems including tunnels, which are supported by a pervasive infrastructure. The structural condition of these places is prone to deterioration. To protect the integrity of such systems, regular inspection is required to detect the onset of damage and material failure. It is envisaged that several robotic systems may provide a solution for the inspection task. When the inspection is purely visual, cameras might provide the necessary functionality. However, subsurface inspection may require a different approach. It is explored that unmanned aerial vehicle (UAV) with contacting probes may be an option.Deploying a UAV to perform contact inspection can be a more demanding task. First, the inspection tool shifts the center of mass and moment of inertias. Second, the terminal velocity needs to be regulated for a soft contact. This phase necessitates the system to be working in faster cycles as compared to the free-flight regime. Last challenge, posed by the interaction tool, comes from the sliding phase on the surface because bouncing occurs while it moves. In addition, ceiling effect where variable rotor wake degrades the performance of tracking predefined trajectory, and an unknown surface that must be included in the control algorithm and interaction tool design.The available approaches can handle the UAV control while it flies in free-flight. However, the challenges associated with the interaction require the system to be more responsive, adaptive and resilient. Since the level of interaction requires a force bound, the system has to explicitly consider this limit. The system needs to maintain the contact in a certain force range to collect the data while not crashing the sensor at the top. The current state of the art considering constraints makes use of two individual models for interaction problems; free-flight and contact phase models that bring additional complexity. Moreover, nominal optimization-based approaches are considered in the UAV control for the physical interaction tasks, wherein the system is lacking the ability to take external forces, changing parameters and unmodelled dynamics into account.In this thesis, a predictive UAV control is proposed to investigate interactions during the contact phase operation in close proximities to the surroundings. The main contribution of this study lies in two aspects: modeling and control of the UAV interaction problem. As opposed to multi-model approaches, a modeling of the whole system is presented with a centralized algorithm in which free flight, target approach, interaction, and sliding have been included. Additionally, a constraint optimization-based algorithm is designed to identify the external forces coming from the interaction tool and environment. It has shown through experiments that the proposed approach is efficient in terms of the optimized performance and applicability. The external force information increases the model size but the efficient open-source solver is adapted to lever...

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Control of Aerial Robots: Hybrid Force and Position Feedback for a Ducted Fan

Cited by 55 publications

References 28 publications

Lyapunov Stability of a Planar Vertical Take-Off and Landing Aircraft Exerting a Force in the Environment

Lyapunov Stability of a Planar Vertical Take-Off and Landing Aircraft Exerting a Force in the Environment

Flight Control Development and Test for an Unconventional VTOL UAV

Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance

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