Detection Time Analysis of Propulsion System Fault Effects in a Hexacopter

Santos, M. F.; Honório, Leonardo de Mello; Costa, Exuperry Barros; Silva, M. F.; Vidal, V. F.; Neto, Antonino Feitosa; Rezende, H. B.; Mercorelli, Paolo; Pancoti, A. A. N.

doi:10.1109/carpathiancc.2019.8765990

Cited by 3 publications

(2 citation statements)

References 18 publications

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“…The contributions of this paper are a consequence of previously published works by the authors, which have been studied for a long time. The main area of research concerns the aerial vehicle, coming from traditional multi-rotors to tilt-rotors, modeling, fault-tolerant control, controller design and tuning, and electromagnetic inference on the UAVs, among others [16,29,30,[39][40][41][42][43][44][45][46].…”

Section: Contributionsmentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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It is known that new power transmission line inspection techniques have been developed over the last few years with great potential to improve and, in some cases, even replace traditional inspection procedures such as using helicopters and cars. A series of Unmanned Aerial Vehicles (UAVs) such as fixed-wing or rotary-wing UAVs, and vehicles that climb on the power transmission line, promise to revolutionize the inspection market. In this light, at least 39 new research studies and/or products have been conducted and/or introduced to the market, respectively. However, in an incipient way, some works point to the fusion of some technologies: the development of multi-rotor UAVs and the ability to connect and move over the power transmission line. In line with this, the current work was proposed, with significant unprecedented advances (such as an over-actuated control capacity with tilt rotors, the capability of a displacement in the angle, and the maintenance of active motors on the power transmission line), and the design, modeling, and control of an over-actuated UAV able to move over the conductor cable without the need for a new locomotion system is presented. The aircraft allows for a greater response and the indispensable ability to approximate landing in a power transmission line arbitrary position rather than the catenary lowest point (due to its ability to forward/backward move using the tilting rotors). Its design is detailed, its subsystems are described, and its normal and coupled flight mode dynamics are modeled. The results show good stability and reliable maneuvers for the coupling-to-power-transmission-line flight mode, without any overshoots, and the ability to follow the entire catenary through different Real Control Action (RCA) sets.

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Section: Contributionsmentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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“…Multi-copters need to maintain accurate attitudes to ensure stable flight, so the development of accurate and stable controllers for multi-copters is essential. The most popular controller used for multi-copters is the cascaded proportional-proportional integral derivative controller (PPID) (Hernandez and Frias, 2016 ; Salas et al, 2019 ; Santos et al, 2019 ; Xuan-Mung and Hong, 2019a , b ). Since PID is a linear controller, it is generally hard to use to achieve the highest control performance for non-linear control systems (Sarabakha et al, 2017 ).…”

Section: Introductionmentioning

confidence: 99%

Online Tuning of PID Controller Using a Multilayer Fuzzy Neural Network Design for Quadcopter Attitude Tracking Control

Park

Quynh

et al. 2021

Front. Neurorobot.

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This study presents an online tuning proportional-integral-derivative (PID) controller using a multilayer fuzzy neural network design for quadcopter attitude control. PID controllers are simple but effective control methods. However, finding the suitable gain of a model-based controller is relatively complicated and time-consuming because it depends on external disturbances and the dynamic modeling of plants. Therefore, the development of a method for online tuning of quadcopter PID parameters may save time and effort, and better control performance can be achieved. In our controller design, a multilayer structure was provided to improve the learning ability and flexibility of a fuzzy neural network. Adaptation laws to update network parameters online were derived using the gradient descent method. Also, a Lyapunov analysis was provided to guarantee system stability. Finally, simulations concerning quadcopter attitude control were performed using a Gazebo robotics simulator in addition to a robot operating system (ROS), and their results were demonstrated.

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