P.I.D. Based Sliding Mode Control of Asynchronous Multi-actuator Monocopter

Bhardwaj, Hitesh; Win, Shane Kyi Hla; Win, Luke Soe Thura; Sufiyan, Danial; Foong, Shaohui

doi:10.1109/aim46487.2021.9517541

Cited by 5 publications

(4 citation statements)

References 14 publications

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“…Contrary to the swash plate mechanism, the motor(s) is used to provide a periodic thrust, which controls its roll and pitch. The cyclic control implemented is based on a square cyclic control strategy, as has been previously implemented in [19].…”

Section: Cyclic Controlmentioning

confidence: 99%

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Nature-inspired in-flight foldable rotorcraft

et al. 2023

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In this paper, we introduce a novel rotary wing platform, that can fold and expand its wings during flight. The design of the rotorcraft is based on the monocopter platform, which are inspired from the flight of Samara seeds. The wings are constructed by applying origami technique to fold them in flight. Two configurations are presented where the folding of the wing is based on active and passive folding mechanisms. The two configurations can reduce their overall length by approximately 39% and 65% while in flight. A cyclic controller is implemented for controlling the translational motion, where the direction is controlled by pulsing the motors at specific instance during each cycle of rotation. We have presented experimental results to prove the control of our platform in different modes while in flight. The presented platforms enhances the practical uses of monocopter platform by providing it with the ability to reduce its footprint while in flight actively, and by allowing them to dive through the air without any additional actuator.

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Section: Cyclic Controlmentioning

confidence: 99%

“…Traditionally, the monocopters have been developed using lightweight materials such as carbon fiber [18], foam [9], balsa wood [19] or a combination of balsa wood and foam [14]. This ensures that the wing remains light as well as rigid, to provide lift when flying at a certain angle with respect to the oncoming airflow.…”

Section: Introductionmentioning

confidence: 99%

Nature-inspired in-flight foldable rotorcraft

et al. 2023

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“…A slower response is observed because of indirect control and due to the gyroscopic nature of the UAV. One way to solve this issue is by implementing a nonlinear controller as done in [9]. From the graphs, it can be observed that the B-mode has better control over the position compared to the M-mode.…”

Section: A Position Trackingmentioning

confidence: 99%

“…Works done in [7] and [8] are examples where this principle has been applied. A recent study conducted in [9] tried to study the dynamics of the monocopters having multiple actuators to achieve better position control. In [10], the authors have presented a monocopter-based platform for short-range urban surveillance and sampling missions.…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling and Control of a Two Flight Mode Capable Single Wing Rotorcraft With Mid-Air Transition Ability

Bhardwaj

Cai

Win

et al. 2022

IEEE Robot. Autom. Lett.

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Monocopters are nature-inspired, single-wing, rotating aerial vehicles that fly by spinning their entire body. Meanwhile, bicopters are twin propeller-based aerial vehicles that control their attitude by changing the direction of thrust from the motors using two servos. In this paper, we present a novel single-wing aerial vehicle, which can fly in both the monocopter and bicopter modes. To enhance its maneuverability while still being in the air, the platform can perform a mid-air transition from one mode to another. To achieve this, we fused the attributes of monocopter and bicopter, while allowing the monocopter to maintain its natural shape for flight. Considering forces and torques experienced by both modes of flight, the dynamics are described, and a cascaded control strategy is developed. A novel approach is proposed to control the angular velocity of the monocopter. An innovative blending and transition method of controllers for both modes is developed to allow transition between the two modes. We constructed a prototype to demonstrate the flight of the aerial vehicle in both modes. The results verify the proposed concept for the design of the aerial vehicle, along with the control strategy implemented for the control over the states during the flight modes as well as the transition between the two modes.

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