Design and Longitudinal Dynamics Decoupling Control of a Tilt-Rotor Aerial Vehicle With High Maneuverability and Efficiency

Li, Haoze; Zheng, Xiangming; He, Haoran; Liao, Luwei

doi:10.1109/lra.2022.3231826

Cited by 10 publications

(1 citation statement)

References 21 publications

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“…The proposed As introduced in [9], this type of over-actuated UAV platform has unlimited joint angle ranges and greatly reduces the mechanical complexity, compared to existing tiltable-rotor configurations [2,12,30,38,39] where the tilting of each rotor is actuated by a servo motor. Besides, our proposed configuration can eliminate the propeller drags, gyroscopic momentums and tilting reaction torques, which had been treated as disturbances or unmodeled dynamics in other tiltable-rotor platforms, because of the paired propellers rotating in opposite directions and the zero-torque transmission in the passive hinges.…”

Section: Platform Propertymentioning

confidence: 99%

Nullspace-Based Control Allocation of Overactuated UAV Platforms

Gerber

et al. 2021

IEEE Robot. Autom. Lett.

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Propeller failure is one major reason for the falling and crashing of multirotor Unmanned Aerial Vehicles (UAVs). While conventional multirotors can barely handle this issue due to underactuation, over-actuated platforms can still pursue the flight with proper fault-tolerant control (FTC). This paper investigates such a controller for one such over-actuated multirotor aerial platform composing quadcopters mounted on passive joints with input redundancy in both the high-level vehicle control and the low-level quadcopter control of vectored thrusts. To fully utilize the input redundancies of the whole platform under propeller failure, our proposed FTC controller has a hierarchical control architecture with three main components: (i) a low-level adjustment strategy to avoid propeller-level thrust saturation; (ii) a compensation loop to attenuate introduced disturbance; (iii) a nullspace-based control allocation framework to avoid quadcopter-level thrust saturation. Through reallocating actuator inputs in both the low-level and high-level control loops, the low-level quadcopter control can be maintained with at most two failed propellers and the whole platform can be stabilized without crashing. The proposed controller is extensively studied in both simulation and real-world experiments to demonstrate its superior performance.

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Section: Platform Propertymentioning

confidence: 99%

Nullspace-Based Control Allocation of Overactuated UAV Platforms

Gerber

et al. 2021

IEEE Robot. Autom. Lett.

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Adaptive Tracking Control for the Conversion Mode of Tilt-Rotor Aircraft with Switched Fuzzy Modeling

Li,

Shi,

Chen

et al. 2024

Int. J. Fuzzy Syst.

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Residual based tilt tri‐rotor UAV actuator fault detection using TSK fuzzy model

He,

Bao,

Xin

et al. 2024

IET Control Theory & Appl

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Undetected actuator faults on tilt tri‐rotor UAVs can lead to system failures and uncontrolled crashes. Multiple flight modes result in complex models with strong nonlinearity, making fault detection of their actuators a very challenging task. To address this issue, this article proposes a fault detection method based on residual generated by using TSK fuzzy model. Initially, the flight modes of the tilt tri‐rotor UAV are modeled as the TSK fuzzy model. Following this, the residual generator is employed for rapid detection of actuator failures. To enhance detection accuracy, the kernel principal component analysis (KPCA) algorithm is used for a secondary confirmation. The proposed algorithm was validated using both a simulation platform and real flight data. The results demonstrate that the fault detection algorithm achieves high accuracy and real‐time performance, with a computing time of approximately 41 ms in real controller hardware, thus meeting the requirements of practical applications.

show abstract

Design and Longitudinal Dynamics Decoupling Control of a Tilt-Rotor Aerial Vehicle With High Maneuverability and Efficiency

Cited by 10 publications

References 21 publications

Nullspace-Based Control Allocation of Overactuated UAV Platforms

Nullspace-Based Control Allocation of Overactuated UAV Platforms

Adaptive Tracking Control for the Conversion Mode of Tilt-Rotor Aircraft with Switched Fuzzy Modeling

Residual based tilt tri‐rotor UAV actuator fault detection using TSK fuzzy model

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