Model-Based Control of a Fully Autonomous Quadrotor UAV

Alzu’bi, Hamzeh; Sababha, Belal H.; Alkhatib, Basim

doi:10.2514/6.2013-5136

Cited by 4 publications

(4 citation statements)

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“…For the 3000 mAh battery, which is the used battery on the Electric-Based UAV we have presented in our work by Alzu’bi et al, 4 several simulations were performed with different values of the fuel mass and the electrical motors’ thrust share. The achieved endurance time is 2870s (47.8 min), whereas the base model was only 1200s (20 min).…”

Section: Thrust Share Control Performance Resultsmentioning

confidence: 99%

“…The fully electric quadcopter UAV base model that this work builds on is presented in the study by Alzu'bi et al 4 Figure 1 illustrates the base model. Block (1) has the governing equations of the quadrotor with the dynamic equations that control the UAV's behavior.…”

Section: Quadrotor Modelmentioning

confidence: 99%

“…Over the past two decades, there has been significant growth in the development of unmanned aerial vehicles (UAVs) in general, and multirotor vertical takeoff and landing (VTOL) UAVs in particular. 1 –5 UAVs are increasingly used in various military and civilian applications, 6 –9 including precision agriculture spraying, cargo transportation, rescue, and firefighting, due to their high maneuverability, low cost, and ease of maintenance. 10,11 Also, many research in the field of UAV regulations, governance, and integration in the public air traffic is actively and continuously ongoing.…”

Section: Introductionmentioning

confidence: 99%

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A hybrid thrusting system for increasing the endurance time of multirotor unmanned aerial vehicles

Bdour

Sababha

2023

International Journal of Advanced Robotic Systems

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One of the most significant disadvantages of electric multirotor unmanned aerial vehicles is their short flight time compared to fuel-powered unmanned aerial vehicles. This is mainly due to the low energy density of electric batteries. Fuel has much more energy density when compared to batteries. Electric-powered motors in multirotor unmanned aerial vehicles cannot be replaced with fuel-based engines because the stability and control of multirotor unmanned aerial vehicles rely on the high response rates of electric motors. One of the possible solutions to overcome this problem of short endurance times is by using hybrid thrusting systems that combine the advantages of both fuel and electrical propulsion systems, where high maneuverability and long endurance flight time could be achieved. In this work, hybrid thrusting and power systems for multirotor unmanned aerial vehicles are studied. Targeted hybrid thrusting systems consist of combustion engines, electric motors, and their power sources. Then a hybrid thrusting system-based quadrotor unmanned aerial vehicle model is developed. The article presents the altitude and attitude control systems of the developed hybrid thrusting system-based unmanned aerial vehicle. The presented hybrid quadcopter model comprises four electric motors and one fuel engine. The fuel engine used in this work is a 4.07 cc internal combustion engine targeting 2–3 kg unmanned aerial vehicles with up to 5 kg maximum takeoff weight. The developed hybrid quadrotor unmanned aerial vehicle achieved a 139% improvement in flight time when compared with traditional electric-based quadrotor unmanned aerial vehicles. The article also reports on other flight time-related issues such as the optimal fuel mass to battery size ratio to maximize the endurance time of the quadrotor unmanned aerial vehicles.

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Section: Thrust Share Control Performance Resultsmentioning

confidence: 99%

Section: Quadrotor Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A hybrid thrusting system for increasing the endurance time of multirotor unmanned aerial vehicles

Bdour

Sababha

2023

International Journal of Advanced Robotic Systems

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“…As being one of the fastest-growing sectors in the aerospace industry, UAVs can provide an inexpensive solution to time-consuming, dull, dirty and dangerous missions, such as emergency evacuation [32], traffic surveillance [33], aircraft detection [34], orchard monitoring [35] and environment mapping [36]. There are two control paradigms for UAVs: model-based [37], which needs an exact model of the system, and model-free [38], which does not need an exact model of the system.…”

Section: Related Workmentioning

confidence: 99%