Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig

SUMMARYIn this paper, a force and torque controller for aerial manipulation is developed using an unmanned aerial vehicle equipped with a robotic arm to interact near or on a vertical surface such as a wall. Control of aerial manipulators interacting with the environment is a challenging task due to dynamic interactions between aerial vehicles, robotic arms, and environment. To achieve this, modeling of aerial manipulators is first investigated and presented considering interaction with the environment. Nonlinear models of generic aerial manipulators, as well as of a prototype aerial manipulator composed of a hexacopter with a three-joint robotic arm, are established. An equilibrium-based force and torque controller is developed to conduct tasks that require the aerial manipulator to exert forces and torques on a wall. Simulations and experiments validate the performance of the controller that successfully applies desired forces and torques to an object fixed on a wall while flying near the wall.

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“…The experiments were conducted with a hexacopter fabricated at the Naval Postgraduate School, 20 shown in Fig. 21.…”

Section: Methodsmentioning

confidence: 99%

“…Given the pulse width modulation (PWM) input to each motor, the resultant forces and torques are calculated as in ref. [20],…”

Section: Hexacopter With a Three-dof Robotic Armmentioning

confidence: 99%

Equilibrium-Based Force and Torque Control for an Aerial Manipulator to Interact with a Vertical Surface

Tavora

Park

Romano³

et al. 2019

Robotica

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“…In this article the attitude regulation of the hexacopter UAV is examined when time delays are induced in the system. The nonlinear rotation dynamics of the aerial platform are decoupled from the translation ones and can be described by (1) [15]. This representation considers the torque induced aerodynamic resistance and the gyroscopic effect from the propellers.…”

Section: Hexarotor Modelingmentioning

confidence: 99%

A robust reconfigurable control scheme against pose estimation induced time delays

Kanellakis

Nikolakopoulos

2016

2016 IEEE Conference on Control Applications (CCA)

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Time delays are one of the most common problems when utilizing a visual sensor for pose estimation or navigation in aerial robotics. Such time delays can grow exponentially as a function of the scene's complexity and the size of the mapping during classical Simultaneous Localization and Mapping (SLAM) strategies. In this article, a robust reconfigurable control scheme against pose estimation induced time delays is presented. Initially, an experimental verification of the induced time delays via pose estimation is performed for the attitude problem of a hexacopter, while a switching time delay dependent modeling approach is formulated. In addition, a stability analysis algorithm is introduced in order to evaluate the maximum allowable time delays that the target system can handle for a given LQR controller. The varying nature of the time delays results in a switching system with the latency time to play the role of a switching rule, while simulation results are presented to outline the effects of the time-induced delays in hexarotor-based systems and finally evaluate the overall efficiency of the proposed control scheme.

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“…( α (roll), Φ (pitch), θ (yaw)) del UAS puede ser obtenida a partir de la integración de la Ecuación (1)(2)(3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15). Con todo lo expuesto anteriormente, se concluye que el modelo propuesto es un sistema no lineal de seis grados de libertad, basado en dinámica de traslación y rotación [1].…”

Section: Parámetros Del Modelo Dinámico De Newton -Eulerunclassified

Methodology for identifying quadrotor parameters, attitude estimation and control

Elsamanty

Khalifa

Fanni

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Construction of test benches for the experimental measurement of the parameters of the dynamic model of Drones -UAS (Unmanned Aerial System)An option for the automatic control of mechanical devices is to obtain the parameters that make up the equation that describes their movement. This is why, under the approach of the Newton-Euler dynamic model applied to drones of maximum 25 kg, it is necessary to determine the inertial parameters for the complete system such as mass, dimensions, center of gravity and moments of inertia, as well as parameters of friction for brushless motors such as thrust force, drag torque and angular velocity.In the present work, the design and construction of test benches that allow the measurement of the parameters of the dynamic model of drones is carried out, starting from the identification of the parameter to be measured, devising a measurement mechanism that is viable from the constructive, functional and economic point of view. The designs are designed with the premise that the tests or measurements are replicable and offer reliable results with the accuracy required at a low maintenance cost. Additionally, for the friction parameter measurement benches, a data acquisition system is implemented under a work environment designed in MATLAB AppDesigner, which allows semiautomatic determination of the relationship equation between angular velocity vs. thrust and angular velocity vs. drag torque for brushless motors using regression.

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Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig

Cited by 14 publications

References 15 publications

Equilibrium-Based Force and Torque Control for an Aerial Manipulator to Interact with a Vertical Surface

Equilibrium-Based Force and Torque Control for an Aerial Manipulator to Interact with a Vertical Surface

A robust reconfigurable control scheme against pose estimation induced time delays

Methodology for identifying quadrotor parameters, attitude estimation and control

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