Robust control for an off-centered quadrotor

Abstract

Abstract-The development of quadrotor unmanned aerial vehicles -UAVs-in potential civil applications is conditioned by the embedded elements such as removable payload, miniature actuators, sensors and power storage. As simple as the structure of the quarotor is, the dynamic behavior is complex. The paper details a model of a quadrotor which considers the effects of the location of the center of gravity and the gyroscopic torques due to the derivative of the speed propellers. A simple control law in order to regulate the angular velocities and to track angular references is designed. Time domain constraints and parameters which belong to a polytope define the basis of the regulator synthesis. The relevance of the study is fulfilled thanks to numerical simulations and experimental plateform is presented.

In-flight estimation of quadrotor mass and inertia using all-accelerometer

“…m i represents the known location of the i th motor-propeller setup with respect to the quadrotor geometric centre, M . i denotes mainly the yaw moment due to available drag forces generated by the i th propeller (Raharijaona and Bateman, 2011), and the known T . propellers issued by the flight controller, m Total is the total mass of the quadrotor and the added objects, that is, payload, I Total is the total inertia of the quadrotor and the added objects evaluated at CoG, F .…”

“…. with u i denoting the rotor speed issued by the flight controller, and the constant k f > 0 which depends on the propeller shape and the air density (Raharijaona and Bateman, 2011) can be determined experimentally off-line with a fixed rotor at steady-state (Michael et al, 2010). Similarly,…”

“…with the constant k m > 0 can be determined off-line by matching the performance of the simulation to the real system (Michael et al, 2010). Let the propellers 1 and 3 rotate in the same direction opposite to propellers 2 and 4, and therefore, M Raharijaona and Bateman, (2011).…”

“…An aerial robot (Ruggiero et al, 2018) may be equipped with simple grippers with one Degree of Freedom (DoF) (Augugliaro et al, 2014), 3-DoF (Lippiello and Ruggiero, 2012), 6-DoF (Trujillo et al, 2019), or with dual multi-DoF manipulators. If these manipulators move during flight, changes in the combined CoG position, mass, and inertia are expected to take place, and therefore robust (Raharijaona and Bateman, 2011) or adaptive (Palunko and Fierro, 2011) controllers are desired.…”

An IMU-based system identification technique for quadrotors

“…Although these advanced controllers present better performance, as another solution, real-time estimating and updating of the parameters leads to a simpler controller while having good performance. As an example, researchers of [15] state that finding the exact center of mass is considerably helpful for designing a better and simpler controller for quadrotors. Moreover, in some applications the parameter variations are significant as the robot is used to carry weighty and complicated burdens.…”