Enunciação E Atividade Da Linguagem

Ducard, Dominique

doi:10.14393/edufu-978-85-7078-353-0

Cited by 2 publications

(10 citation statements)

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“…are calculated, leading to the red hexagon. It crosses the reference setpoint ( Lr , Mr ), thus satisfying the constraints in (28) (i.e., (27)). Discussion: This interpolation method makes sure that the values of a, b, c vary continuously, if the normalized torque setpoint ( Lr , Mr ) also varies continuously over time.…”

Section: E Wca Method: Calculation Of (A B C) As a Function Of The De...mentioning

confidence: 97%

“…In the WCA method, the reachable roll torques are those constrained by the inequalities in (27). The maximum roll torque reachable can be computed by setting M = 0.…”

Section: A Analysis Of Roll Torque Generation With the Wca Methodsmentioning

confidence: 99%

“…With the WCA method, the reachable pitch torques are those constrained by the inequalities in (27). In order to compute the maximum pitch torque reachable, let us set L = 0.…”

Section: B Analysis Of Pitch Torque Generation With the Wca Methodsmentioning

confidence: 99%

“…Method: Compute the WCA-reachable torques in the (L, M )-space and the corresponding dynamic weights a, b, c according to the constraints given in (27), where T min and T max are replaced by Tmin and Tmax , respectively, leading to Then, the calculations of a, b, c can be made exactly as in the case of N = 0 (see Section V-E1) but using Tmin and Tmax instead of T min and T max , respectively.…”

Section: Extension Of the Wca Methods In Case Of Non-zero Desired Yaw...mentioning

confidence: 99%

“…: the vehicle will loose altitude, and possibly crash (which happened during our real recorded flight tests in the Video 1, available at [27]).…”

Section: Gmentioning

confidence: 99%

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WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

Ducard¹,

Hua²

2023

IEEE Access

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This paper presents an efficient control allocation (CA) strategy which significantly improves the flight performance of a planar hexacopter. This allocation maps the desired control vector v = [T, L, M, N ] composed of the thrust and torques in roll, pitch, and yaw axis, respectively, to propellers' speed. This paper shows that a CA strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. A novel approach is presented, which is based on a weighted pseudo-inverse matrix method, called WCA, capable of exploiting a much larger domain in v. The three weights involved in WCA are adapted online according to nonlinear laws which are analytically derived by solving symbolically the equivalent constraint least-squares problem, thus removing the need for online-optimization calculations. This solution allows for very fast real-time operations, suitable for autopilots with limited computing resources. This paper provides 1) a detailed analysis of the limitations of the classical control allocation scheme, 2) the mathematical development of the WCA algorithm, 3) simulations and real experiments which show that this WCA strategy outperforms the classical CA approach in terms of a) capability to generate the maximum roll and pitch torques possible, without generating undesired yaw torques, b) prioritizing the generation of thrust over attitude torques, thus achieving better altitude tracking despite aggressive maneuvers or the presence of a payload, and c) better behavior in case of actuator saturation, faults or even failures.

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Section: E Wca Method: Calculation Of (A B C) As a Function Of The De...mentioning

confidence: 97%

“…In the WCA method, the reachable roll torques are those constrained by the inequalities in (27). The maximum roll torque reachable can be computed by setting M = 0.…”

Section: A Analysis Of Roll Torque Generation With the Wca Methodsmentioning

confidence: 99%

“…With the WCA method, the reachable pitch torques are those constrained by the inequalities in (27). In order to compute the maximum pitch torque reachable, let us set L = 0.…”

Section: B Analysis Of Pitch Torque Generation With the Wca Methodsmentioning

confidence: 99%

Section: Extension Of the Wca Methods In Case Of Non-zero Desired Yaw...mentioning

confidence: 99%

“…: the vehicle will loose altitude, and possibly crash (which happened during our real recorded flight tests in the Video 1, available at [27]).…”

Section: Gmentioning

confidence: 99%

See 3 more Smart Citations

WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

Ducard¹,

Hua²

2023

IEEE Access

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O funcionamento da unidade linguística NOVO como marcador de abertura e fechamento de caminho à alteridade

Sousa,

Pria

2024

Traços

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O nosso objetivo geral nesta pesquisa consiste em empreender um estudo da unidade linguística NOVO em posição atributiva com uma simulação de diálogo entre sujeitos. Para tanto, nos sustentamos teoricamente nos pressupostos da Teoria das Operações Predicativas e Enunciativas (TOPE), de Antoine Culioli e os seus seguidores. Organizamos os enunciados para as análise em dois grupos: NOVO anteposto ao nome e NOVO posposto ao nome. Os resultados da nossa pesquisa explicitam o funcionamento da unidade linguística NOVO enquanto marcador de mecanismos de abertura e fechamento de caminho à alteridade.

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Enunciação E Atividade Da Linguagem

Cited by 2 publications

References 0 publications

WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

O funcionamento da unidade linguística NOVO como marcador de abertura e fechamento de caminho à alteridade

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