Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Chebbi, Jawhar; Defaÿ, François; Brière, Yves; Deruaz-Pepin, Alban

doi:10.1109/lra.2019.2963652

Cited by 8 publications

(3 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The available measurements on such vehicles come usually from an inertial measurement unit (IMU) providing the angular rates and a position sensing system (external or internal) providing the position with reference to a fixed observer. Moreover, the considered control inputs for this unidirectional underactuated multirotor are the total thrust and the roll/pitch/yaw torques, so we assume that the actuator behaviour is more or less known and a model‐based mixer is available allowing to transform a desired thrust and torque into an equivalent PWM (or RPM) command as in Chebbi et al (2020).…”

Section: Multirotor Uav Dynamics and Controlmentioning

confidence: 99%

Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

Chebbi

Brière

2022

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

Active Disturbance Rejection Control (ADRC) has recently stood out as a viable alternative to the proportional-integral-derivative controllers. An interesting field of application of this approach is the control of multirotor unmanned aerial vehicles (UAVs) which are inevitably subject to various force and torque disturbances. What makes ADRC attractive is the enhanced trajectory tracking and disturbance rejection capabilities that it allows while requiring minimal knowledge about the system.Although in theory, large uncertainties on the few required system parameters do not affect the stability of the ADRC's closed-loop, they cause performance deterioration and can lead to dangerous oscillations that result in instability in practice. In this study, we design a robust ADRC for multirotor UAVs that allows maintaining the performance despite large parameter variations, without changing the initial control gains tuning. Simulation and experimental results support the theoretical findings.

show abstract

Section: Multirotor Uav Dynamics and Controlmentioning

confidence: 99%

Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

Chebbi

Brière

2022

Journal of Field Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, none of these works performs a throughout investigation in terms of speed range, focusing either on a specific operating condition (e.g., balanced torque) or on equal speeds and commands, with some exceptions. The authors in [17] performed extensive experiments to improve control, ignoring efficiency. Meanwhile, [18] presents a comprehensive study aimed at the acoustics of contra-rotating coaxial systems.…”

Section: Introductionmentioning

confidence: 99%

A Benchmarking Platform and a Control Allocation Method for Improving the Efficiency of Coaxial Rotor Systems

Buzzatto

Liarokapis

2022

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Coaxial rotors used on multirotor Micro Aerial Vehicles (MAVs) are complex aerodynamic systems that are typically treated in a simplified manner, operating in suboptimal conditions. In this work, we propose: i) an open-source benchmarking platform for coaxial rotor systems that allows us to analyse and improve their efficiency and ii) a map of the whole actuation domain of coaxial systems based on extensive experimentation. In particular, we test three systems built using offthe-shelf components and different rotor configurations. Results demonstrate the existence of a maximum efficiency boundary, which covers the whole thrust range of each system. We also analyze how this boundary changes with respect to the rotor configuration. We compare it with the performance of coaxial rotors controlled with the current standard method (i.e., equal commands for both rotors). Finally, we propose a control allocation strategy that improves the efficiency of coaxial rotors by up to 11% over the current industry standard. Implementation on an octocopter with four sets of coaxial rotors validates the proposed methods across two different rotor separation designs and two different payload scenarios.

show abstract

“…1,33 The control problem of multicopters and in particular of octocopters remains always technically challenging. [34][35][36][37][38] The proposed nonlinear optimal control method for octocopters is a genuine and novel result that improves the functioning of such UAVs. Comparing to other nonlinear control approaches that could have been considered for this problem, the method exhibits several advantages.…”

mentioning

confidence: 99%

A nonlinear optimal control approach for the autonomous octorotor

et al. 2020

View full text Add to dashboard Cite

The article proposes a nonlinear optimal control approach for the model of the autonomous octorotor. This aerial drone has improved load transport capability due to being actuated by eight rotors. The dynamic model of the octorotor undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model an H‐infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state‐space model of the octorotor. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of this aerial drone, under model uncertainties, and external perturbations. For the computation of the controller's feedback gains an algebraic Riccati equation is solved at each time‐step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the octorotor, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis. It can be noted that: (1) the novelty/innovation of this research work is in presenting a novel and genuine nonlinear optimal control method for the octocopter's model, (2) the significance of the presented method is in achieving fast and accurate tracking of reference setpoints for the octocopter under moderate variations of the control inputs. By minimizing energy consumption by the actuators of the UAV its autonomy and operational capacity is improved, (3) the intellectual contribution of the article is in solving the nonlinear optimal control problem for the octocopter in an effective, yet computationally efficient manner.

show abstract

Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Cited by 8 publications

References 20 publications

Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

A Benchmarking Platform and a Control Allocation Method for Improving the Efficiency of Coaxial Rotor Systems

A nonlinear optimal control approach for the autonomous octorotor

Contact Info

Product

Resources

About