Model based control of a quadrotor with tiltable rotors

Scholz, Georg; Trommer, Gert F.

doi:10.1134/s2075108716010120

Cited by 19 publications

(8 citation statements)

References 11 publications

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“…A further improvement of using tilting rotors in comparison to traditionally fixed mounted rotors is shown in [12], overcoming the difficulties of controlling a UAV with a propeller failure. A model-based control approach for tilt-rotor UAVs is shown in [13].…”

Section: State Of the Artmentioning

confidence: 99%

Thrust Vector Observation for Force Feedback-Controlled UAVs

Werner

Strohmeier

Rothe

et al. 2022

Drones

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This paper presents a novel approach to Thrust Vector Control (TVC) for small Unmanned Aerial Vehicles (UAVs). The difficulties associated with conventional feed-forward TVC are outlined, and a practical solution to conquer these challenges is derived. The solution relies on observing boom deformations that are created by different thrust vector directions and high-velocity air inflow. The paper describes the required measurement electronics as well as the implementation of a dedicated testbed that allows the evaluation of mid-flight force measurements. Wind-tunnel tests show that the presented method for active thrust vector determination is able to quantify the disturbances due to the incoming air flow.

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Section: State Of the Artmentioning

confidence: 99%

Thrust Vector Observation for Force Feedback-Controlled UAVs

Werner

Strohmeier

Rothe

et al. 2022

Drones

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show abstract

“…On the other hand, some research stabilize Ryll's tilt-rotor [17][18][19], a novel UAV with eight inputs, by controlling all degrees of freedom independently and simultaneously. The relevant decoupling matrices with six inputs and eight inputs have been proved invertible, marking the feasibility of feedback linearization.…”

Section: Introductionmentioning

confidence: 99%

Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem

Shen

Tsuchiya

2022

Drones

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This article presents the four-dimensional surfaces that guide the gait plan for a tilt-rotor. The previous gaits analyzed in the tilt-rotor research are inspired by animals; no theoretical base backs the robustness of these gaits. This research deduces the gaits by diminishing the adverse effect of the attitude of the tilt-rotor for the first time. Four-dimensional gait surfaces are subsequently found on which the gaits are expected to be robust to the attitude. These surfaces provide the region where the gait is suggested to be planned. However, a discontinuous region may hinder the gait plan process while utilizing the proposed gait surfaces. The ‘Two Color Map Theorem’ is then established to guarantee the continuity of each gait designed. The robustness of the typical gaits on the gait surface, obeying the Two Color Map Theorem, is demonstrated by comparing the singular curves in attitude with the gaits not on the gait surface. The result shows that the gaits on the gait surface receive wider regions of the acceptable attitudes.

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“…Following the advances in the development of computer systems for flight control, there was a rise in the application of "modern control" systems such as the linear quadratic regulator (LQR) [8,9] and H ∞ [10]. These methods are difficult to implement practically [6].…”

Section: Introductionmentioning

confidence: 99%

“…Other methods, such as nonlinear inverse dynamics [9], including feedback linearisation [11], adaptive control [12] and sliding mode controllers [13], have also been applied with moderate success.…”

Section: Introductionmentioning

confidence: 99%

Optimised Tuning of a PID-Based Flight Controller for a Medium-Scale Rotorcraft

Mpanza

Pedro

2021

Algorithms

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This paper presents the parameter optimisation of the flight control system of a singlerotor medium-scale rotorcraft. The six degrees-of-freedom (DOF) nonlinear mathematical model of the rotorcraft is developed. This model is then used to develop proportional–integral–derivative (PID)-based controllers. Since the majority of PID controllers installed in industry are poorly tuned, this paper presents a comparison of the optimised tuning of the flight controller parameters using particle swarm optimisation (PSO), genetic algorithm (GA), ant colony optimisation (ACO) and cuckoo search (CS) optimisation algorithms. The aim is to find the best PID parameters that minimise the specified objective function. Two trim conditions are investigated, i.e., hover and 10 m/s forward flight. The four algorithms performed better than manual tuning of the PID controllers. It was found, through numerical simulation, that the ACO algorithm converges the fastest and finds the best gains for the selected objective function in hover trim conditions. However, for 10 m/s forward flight trim, the GA algorithm was found to be the best. Both the tuned flight controllers managed to reject a gust wind of up to 5 m/s in the lateral axis in hover and in forward flight.

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Model based control of a quadrotor with tiltable rotors

Cited by 19 publications

References 11 publications

Thrust Vector Observation for Force Feedback-Controlled UAVs

Thrust Vector Observation for Force Feedback-Controlled UAVs

Four-Dimensional Gait Surfaces for a Tilt-Rotor—Two Color Map Theorem

Optimised Tuning of a PID-Based Flight Controller for a Medium-Scale Rotorcraft

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