Design and development of heavy-lift hexacopter for heavy payload

Suprapto, Bhakti Yudho; Heryanto, M. Ary; Suprijono, Herwin; Muliadi, Jemie; Kusumoputro, Benyamin

doi:10.1109/isemantic.2017.8251877

Cited by 33 publications

(21 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Saat ini secara luas perkembangan multirotor menggunakan lebih dari empat motor sedang banyak dilakukan salah satunya adalah hexacopter yang menggunakan enam motor. Hexacopter memiliki beberapa keunggulan dibanding quadcopter yaitu daya tahan (endurance) terbang lebih lama dan dapat mengangkat pay-load yang lebih besar karena memiliki jumlah motor yang lebih banyak [7].…”

Section: Pendahuluanunclassified

Perancangan Sistem Pengendalian Menggunakan Kontroler PID pada Gerakan Pitch dan Roll untuk Stabilitas Attitude Hexacopter

Perdana

Rizianiza

2021

Simet

View full text Add to dashboard Cite

Drone Hexacopter merupakan salah satu jenis UAV tipe rotary wing. Hexacopter memiliki 6 buah motor penggerak, biasa disebut multirotor. Drone Hexacopter memiliki sistem yang kompleks dan nonlinear. Sifat sistem hexacopter menyebabkan proses pengendalian sulit dilakukan saat sistem kontrol tidak dirancang dengan baik sehingga menjadi tantangan untuk penelitian mendatang. Dibutuhkan perancangan sistem kontrol hexacopter yang dapat menjaga kestabilan gerak attitude saat drone berada di udara yaitu variabel pitch dan roll. Tujuan dari penelitian ini ialah menentukan parameter PID untuk gerakan pitch dan roll pada hexacopter. Penelitian ini, pemodelan sistem untuk mendapatkan transfer function dilakukan dengan engineering tools black-box modeling yaitu Autoreggresive Moving Average eXogenous (ARMAX). Metode ini menggunakan data input dan output drone berupa sudut perintah dan sudut aktual (pitch dan roll). Perancangan kontroler dilakukan dengan mencari parameter PID lalu dilakukan simulasi menggunakan software komputer. Hasil setelah perancangan diharapkan mengalami improvisasi atau lebih baik dari sistem sebelumnya setelah dilakukan simulasi.

show abstract

Section: Pendahuluanunclassified

Perancangan Sistem Pengendalian Menggunakan Kontroler PID pada Gerakan Pitch dan Roll untuk Stabilitas Attitude Hexacopter

Perdana

Rizianiza

2021

Simet

View full text Add to dashboard Cite

show abstract

“…Additionally, there is a new adaptive law to estimate several unknown parameters such as inertial moment, arm length, and drag moment coefficients in the box [2]. Finally, the box [3] shows the proposed altitude controller which forces the tracking error to lie in its boundary to ensure the safety of this system.…”

Section: Altitude Controllermentioning

confidence: 99%

“…Unmanned vehicles have currently been playing a crucial role in many aspects of our daily lives where many robots can be used to operate and assist with complex tasks. Especially, unmanned aerial vehicles (UAVs) have been widely researched to create many versatile applications for replacing human from impossible missions and dangerous tasks [1], e.g., in agriculture [2], industry [3,4], and military [5,6]. Quadcopters, which are one of the most popular class of UAVs, have only four actuators, while there are six degrees of freedom, in that it is definitely an under-actuated system.…”

Section: Introductionmentioning

confidence: 99%

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

2019

View full text Add to dashboard Cite

Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system parameterized uncertainties and to guarantee that the control input is finite. In addition, the vehicle’s vertical descending acceleration is ensured to not exceed the gravitational acceleration by making use of a barrier Lyapunov function. It is shown that the suitable parameter estimator is stable and the tracking errors are guaranteed to be asymptotically stable simultaneously. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our method to that of existing approaches. The simulation results demonstrate the effectiveness of the proposed algorithm.

show abstract

“…The quadcopter is the precursor of these UAVs and remains the most popular one. However, in order to meet increasing safety and payload requirements, new multirotor configurations with more than four motors have been tested and used over the recent years (like hexarotors [1], [2] and octorotors [3]- [5]). One interesting property of underactuated multirotors is that regardless of the number and disposition of the motors, they can be controlled in the same way, using four control inputs corresponding to the total thrust force and to three torques around the three body axes, as long as these control efforts are dispatched to the motors according to the rotors configuration.…”

Section: Introductionmentioning

confidence: 99%

Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Chebbi

Defaÿ

Brière

et al. 2020

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

A Coaxial push-pull multirotor is a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) having 2n (n ∈ IN * ) rotors arranged in n blocks of two coaxial contrarotating rotors. A model-based control allocation algorithm (mixer) for this architecture is proposed. The novelty of the approach lies in the fact that the coaxial aerodynamic interference occurring between the pairs of superimposed rotors is not neglected but rather nonlinear empiric models of the coaxial aerodynamic thrust and torque are used to build the mixer. Real flight experiments were conducted and the new approach showed promising results.

show abstract

Design and development of heavy-lift hexacopter for heavy payload

Cited by 33 publications

References 13 publications

Perancangan Sistem Pengendalian Menggunakan Kontroler PID pada Gerakan Pitch dan Roll untuk Stabilitas Attitude Hexacopter

Perancangan Sistem Pengendalian Menggunakan Kontroler PID pada Gerakan Pitch dan Roll untuk Stabilitas Attitude Hexacopter

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Contact Info

Product

Resources

About