Enabling Bidirectional Thrust for Aggressive and Inverted Quadrotor Flight

Jothiraj, Walter; Miles, Corey; Bulka, Eitan; Sharf, Inna; Nahon, Meyer

doi:10.1109/icuas.2019.8798234

Cited by 12 publications

(5 citation statements)

References 15 publications

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“…where m t b,z i is the moment generated about the body z-axis by the i th motor. Similar to k t , k q can be found experimentally via static testing of the motors, as is done in [34] and [35].…”

Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 97%

“…and Ω 4 have the opposite convention). This model assumes that k t remains constant and can be acquired experimentally via static testing of the motors, as is done in [34] and [35].…”

Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 99%

“…The thrusters also generate moments due to their angular accelerations and gyroscopic effects [34] which can be modeled using the following equation:…”

Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 99%

“…The vehicle parameters in this table were obtained from a Computer-Aided Design (CAD) model of the Spiri quadrotor. Its motor parameters were found via static thruster testing, as is done [34]. Note that in addition to minimum and maximum thrust constraints being imposed on the actuators, constraints are also imposed on the roll/pitch angles of the quadrotor (e.g.…”

Section: Simulation Parametersmentioning

confidence: 99%

See 3 more Smart Citations

Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation

Tariq

Nahon

2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

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Quadrotors are highly agile vehicles that can be used to perform aggressive maneuvers.Commanding a quadrotor to perform a maneuver that is beyond the physical capabilities of its actuators leads to actuator saturation. A prolonged state of saturated actuators can cause the vehicle to behave unpredictably. This work investigates the use of constrained control allocation methods in a cascaded control structure to mitigate the adverse effects of actuator saturation. More specifically, a constrained weighted least squares approach is used in the position controller and mixer to prioritize certain control efforts while considering constraints on the actuators and, optionally, vehicle attitude. Additionally, a yawdecoupled attitude controller is adopted to complement the control allocation method employed in the mixer. The proposed strategy offers a more comprehensive approach to addressing actuator saturation and was found to enhance the stability and tracking performance of the vehicle when compared to conventional approaches in simulation. Furthermore, waypoints-based motion planning is also investigated for generating trajectories that avoid actuator saturation, as opposed to 'handling' saturation as is done by the controllers and mixer. The trajectories are designed for a 'lawnmower maneuver' and are initially generated using a minimum snap optimization algorithm. However, this method does not consider actuator or state constraints, and thus avoiding constraint violations is not guaranteed. To address this, differential flatness properties are used to evaluate these trajectories to determine whether actuator and state constraints are violated.Time scaling is then used to adjust the trajectory to meet the constraints. The appropriate scale needed for time scaling can be obtained analytically or iteratively. Analytical i

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Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 97%

“…and Ω 4 have the opposite convention). This model assumes that k t remains constant and can be acquired experimentally via static testing of the motors, as is done in [34] and [35].…”

Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 99%

“…The thrusters also generate moments due to their angular accelerations and gyroscopic effects [34] which can be modeled using the following equation:…”

Section: Quadrotor Kinematics and Dynamics Modelmentioning

confidence: 99%

Section: Simulation Parametersmentioning

confidence: 99%

See 2 more Smart Citations

Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation

Tariq

Nahon

2020

2020 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

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“…where k f is the thrust constant. All the rotors can produce bidirectional thrust by means of reversible ESC and symmetric 3D propellers [16]. The torques are described by τ i = γσ i f i , where γ is drag-to-thrust ratio and σ i represents rotation direction.…”

Section: Static Wrench Decompositionmentioning

confidence: 99%

Nonlinear Disturbance Observer-Based Sliding-Mode Geometric Controller for Fully-Actuated Hexarotor

Lin

Wan

2021

Proceedings of 2021 Chinese Intelligent Automation Conference

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In this work we present the modeling and control of a fullyactuated hexarotor. A tilt angle for each rotor allows the unmanned aircraft system to exert forces and moments in all the directions. Meanwhile, the hexarotor is capable of bidirectional thrust which is generated by reversing the direction of the driving motors. A sliding-mode geometric controller is combined with a nonlinear disturbance observer to enhance the robustness of the dynamic system on the nonlinear manifold SE(3), where the rotational dynamics evolve on SO(3) while the translational dynamics evolve on R 3 .

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Nonlinear scenario‐based model predictive control for quadrotors with bidirectional thrust

Wehbeh,

Sharf

2024

Intl J Robust & Nonlinear

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The control of quadrotor vehicles under state and parameter uncertainty is a well studied problem that is vitally important to the deployment of these systems under real world conditions. In this article, we propose a linearization‐based extension to nonlinear systems of the existing scenario model predictive control (MPC) framework, which quantifies the impact of uncertainty on the vehicle dynamics through repeated sampling of the uncertainty space. Given the computational costs of such an approach, we also propose two simplifications of the scenario MPC algorithm that are significantly more tractable. In order to evaluate the performance of the algorithms, the specific problem of the control of a bidirectionally actuated quadrotor vehicle is considered. Simulations are carried out for each scenario MPC scheme as well as for a reference deterministic MPC scheme. When a sufficiently large sample count is considered, each of the scenario MPC algorithms achieves safer performance than the deterministic formulation without sacrificing any optimality. Additionally, the approximate solution techniques conclusively outperform the original nonlinear scenario MPC formulation for the same computational cost.

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Enabling Bidirectional Thrust for Aggressive and Inverted Quadrotor Flight

Cited by 12 publications

References 15 publications

Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation

Constrained Control Allocation Approaches in Trajectory Control of a Quadrotor Under Actuator Saturation

Nonlinear Disturbance Observer-Based Sliding-Mode Geometric Controller for Fully-Actuated Hexarotor

Nonlinear scenario‐based model predictive control for quadrotors with bidirectional thrust

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