Quadrotor Input-Output Linearization and Cascade Control

Tamayo, Alejandro J. Malo; Rios, Cesar Alejandro Villaseñor; Zannatha, Juan Manuel Ibarra; Orozco-Soto, Santos M.

doi:10.1016/j.ifacol.2018.07.317

Cited by 14 publications

(9 citation statements)

References 17 publications

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“…In the context of control of multirotor vehicles, the typical modelling approach has been to use a hover or 'static' model, that is, the thrust and rotor torque are proportional to the square of the propeller rotation rate, and to neglect H-force, pitching and rolling moments [16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33]. As shown in [15], this model breaks down when a quadrotor flies at moderate speeds.…”

Section: Literature Reviewmentioning

confidence: 99%

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Gill

D’Andrea

2019

Drones

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Two low-order, parametric models are developed for the forces and moments that a rotating propeller undergoes in forward flight. The models are derived using a first-principles-based approach, and are computationally efficient in the sense of being represented by explicit expressions. The parameters for the models can be identified either using supervised learning/grey-box fitting from labelled data, or can be predicted using only the static load coefficients (i.e., the hover thrust and torque coefficients). The second model is a multinomial model that is derived by means of a Taylor series expansion of the first model, and can be viewed as a lower-order lumped parameter model. The models and parameter generation methods are experimentally tested against 19 propellers tested in a wind tunnel under oblique flow conditions, for which the data is made available. The models are tested against 181 additional propellers from existing datasets.

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Section: Literature Reviewmentioning

confidence: 99%

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Gill

D’Andrea

2019

Drones

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“…To achieve 6-DOF, rotational and translational motions are coupled. (Fiaz, 2015) (H. Schaub a J. Junkins, 2003) (Tamayo et al, 2018) (Zhang et al, 2014), (Zouaoui et al, 2019).…”

Section: Figure 1 Configuration Of Motorsmentioning

confidence: 99%

“…The roll pitch and altitude commands for the yaw controller are both set to 0. After yaw, we will tune roll and pitch individually before moving to the outer loop, keeping the inner loop controllers active and maintaining the drone's orientation (Tamayo et al, 2018).…”

Section: Figure 4 Altitude Controllermentioning

confidence: 99%

Design and Testing of a Pid Controller on a Parrot Minidrone

Patel¹

2022

Eduvest

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This paper focuses on quadcopter control design and uses the Simulink Support Package for Parrot Minidrones to test various control approaches. This project's goal is to bridge the knowledge gap between control design and implementation, making it simpler to comprehend the fundamental ideas of control theory. Obtaining a dynamic model of the quadcopter, linearizing the system around an equilibrium point, designing PID controller on the linearized system, and then verifying the controllers on the non-linear model using simulations and test flights with the actual drone are the key components of this research. The tuned controllers are validated by trajectory tracking, setpoint regulation, and disturbance rejection.

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“…Typically in the literature when controlling a VTOL vehicle is assumed the z−axis can be controlled by some linear or nonlinear controller using specifically u 1 . Usually, this controller is based on a feedback linearization technique as presented in [30,14,15,42]. This classical procedure is often used because the idea is to guarantee the vehicle keeps at hover, and later control their displacement in the plane x or y making an under-actuated subsystem.…”

Section: Control Architecturesmentioning

confidence: 99%

Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview

Betancourt

Castillo

Lozano

2020

J Intell Robot Syst

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Control theory applied to multirotor aerial systems (MAS) has gained attention with the recent increase on the power computation for embedded systems. These systems are now able to perform the calculations needed for a variety of control techniques, with lower cost of sensors and actuators. These types of control algorithms are applied to the position and the attitude of MAS. In this paper, a brief overview evaluation of popular control algorithms for multirotor aerial systems, especially for VTOL -Vertical Take-Off and Landing aircraft, is presented. The main objective is to provide a unified and accessible analysis, placing the classical model of the VTOL vehicle and the studied control methods into a proper context. And therefore, to provide the basis for beginner users working in aerial vehicles. In addition, this work contributes in presenting a comprehensive analysis of the implementation for the Nonlinear and Linear Backstepping, Nested Saturation and the Hyperbolic Bounded Controllers. These techniques are selected and compared to evaluate the performance of the aircraft, by simulations and experimental studies.

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Quadrotor Input-Output Linearization and Cascade Control

Cited by 14 publications

References 17 publications

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

Design and Testing of a Pid Controller on a Parrot Minidrone

Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview

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