Dynamic Modeling with Nonlinear Inputs and Backstepping Control for a Hexarotor Micro-Aerial Vehicle

Sanca, Armando S.; Alsina, Pablo Javier; Cerqueira, Jés de Jesus Fiais

doi:10.1109/lars.2010.14

Cited by 25 publications

(17 citation statements)

References 11 publications

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“…h.alwi@exeter.ac.uk, C.Edwards@exeter.ac.uk the scenario in which one of its rotors totally fails (the only exception is the work of [12] which sacrifices yaw control in order to maintain roll and pitch control). A six (hexrotor [13], [14]) or eight (octorotor [15], [16], [17]) rotor configuration is a much more suitable platform for testing FTC schemes due to the extra available redundancy, which provides greater flexibility for testing. However, there is still only limited work in the literature which considers FTC on hex/octorotor platforms.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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Abstract-This paper presents two fault tolerant control (FTC) schemes for an octorotor UAV. The FTC schemes are based on an LPV system representation and utilizes a combination of sliding mode ideas and control allocation in order to take full advantage of the available redundant rotors in the octorotor configuration. A detailed synthesis procedure for the design of the two FTC schemes in the presence of uncertainty, as well as faults/failures, is presented. The first scheme is based on an online control allocation methodology where knowledge of the rotor effectiveness level has been used to redistribute the control signals to the healthy rotors. The second scheme assumes that this information is not available and uses a fixed control allocation structure even in the event of faults/failures. Although the synthesis process for the two schemes is different and they use different strategies to redistribute the control signals when faults/failures occur, both schemes involved the same 'baseline' (sliding mode) controller which does not need to be reconfigured. The difference is in the final physical control law where the control allocation matrix is defined. Simulation results on the full nonlinear octorotor model are presented for the two different schemes in the presence of uncertainty, sensor noise as well as faults/failures. The simulation results for various fault/failure scenarios show no visible degradation in state tracking performance, highlighting the potential of the proposed schemes.

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Section: Introductionmentioning

confidence: 99%

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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“…J and i J are the inflow factors [5]. Finally, the total force of thrust generated by the six propellers in the earth frame is defined as: …”

Section: Aerodynamic Forces and Moments In Axial Flightmentioning

confidence: 99%

“…where P is the rotor solidity, L C D is the lift slope coefficient, D C is the drag coefficient , c J and i J are the inflow factors [5]. Finally, the total force of thrust generated by the six propellers in the earth frame is defined as: …”

Section: Force Analysis a Thrust Forcementioning

confidence: 99%

“…The control of an aerial robot such as a hexacopter requires studying its dynamics in order to account for gravity effects and aerodynamic forces [1] [2]. These aerial vehicles have high maneuverability and stationary flight [4] [5]. In this work equations of motion were derived of the whole system using the Newton-Euler formulation for translational and rotational dynamics of a rigid body [1].…”

Section: Introductionmentioning

confidence: 99%

“…

[5]. In this work equations of motion were derived of the whole system using the Newton-Euler formulation for translational and rotational dynamics of a rigid body [1].

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Desiging a Real Mathematical Model of a Hexacopter in the Inertial Frame

Ibrahim

2017

Vestn. IžGTU im. M.T. Kalašnikova

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[5]. In this work equations of motion were derived of the whole system using the Newton-Euler formulation for translational and rotational dynamics of a rigid body [1]. This paper is focusing on studying the nature of characteristics such as nonlinearity and coupling of variables, then adding disturbances that are presented as an environment for outdoor simulation [3], which is omitted in most of the literature. The structure of the paper is as follows: describing both the kinematics and dynamics then explaining the equations of motion. Reference Systems for the UAV HexacopterIn order to describe the hexacopter motion only two reference systems are necessary: earth inertial frame (E-frame) and body-fixed frame (B-frame). An Inertial frame is a system that uses the North, East, and Down (NED) coordinates and the origin of this reference system is fixed in one point located on the earth surface as shown in Figure 1, and the (X, Y, Z) axes are directed to the North, East, and Down, respectively. The mobile frame (X B , Y B , Z B ) is the body fixed frame that is centered in the hexacopter center of gravity and oriented as shown in Figure 1. The angular position of the body frame with respect to the inertial one is usually defined by means of the Euler angles: roll M, pitch T, and yaw \. which is orthogonal, and cT equivalent to cosT also sT means sinT, while the transformation matrix for angular velocities from the body frame to the inertial one is S Aerodynamic Forces and Moments in Axial FlightIn order to describe the dynamics of the hexacopter, that is assumed to be a rigid body and has a symmetrical structure, Newton-Euler equations [1] [3], that govern linear and angular motion are used as shown in equation 2, where m is the mass of hexacopter, F ¦ is the total force and M ¦ is the total moment acting along the axis: C and Q C are respectively thrust and torque coefficients, U is the air density and A the disc area. The thrust and torque coefficients can be written as:J and i J are the inflow factors [5]. Finally, the total force of thrust generated by the six propellers in the earth frame is defined as: It is the opposing force to the travelling of the hexacopter in air, which is resulting from the aerodynamic friction, air density, velocity, and can be expressed by the following equation at the earth's frame: , has a small effect and approximately equal to zero. Therefore, the equations, after some simplifications, are as follows: Therefore, the final equations with respect to Earth frame are: Moments AnalysisThe aircraft is affected by several types of moments: the thrust moment resulting from the motors, the motors inertia moment, the aerodynamic moment, and the disturbances moment. Supposing, the inertia matrix of the aircraft is J, the structure of the aircraft is symmetric, so Therefore, the moments acting on the center of the aircraft can be analyzed as follows: a. Propeller Moments: The thrust M is part of the external moments, and is described by the propeller thrust It is the moment resulting fro...

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