Robust nonlinear control of a variable-pitch quadrotor with the flip maneuver

Bhargavapuri, Mahathi; Sahoo, Soumya Ranjan; Kothari, Mangal; Abhishek, Amit

doi:10.1016/j.conengprac.2019.03.012

Cited by 42 publications

(26 citation statements)

References 32 publications

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“…The blade is defined in terms of thrust coefficient as [12]: is rotor's chord length and (m) R is the radius of the rotor. Based on the structure of the quadrotor (plus shape), the thrust coefficient is related to force/moment inputs of a quadrotor [18]:…”

Section: Variable-pitch Rotor Dynamicsmentioning

confidence: 99%

“…Chipade et al presented control of variable pitch quadrotor for payload delivery with focus on mechanism design [11]. Rotor dynamic in variable pitch imposed a nonlinear algebraic equation which required control allocation [12], or other techniques to find a solution. Turning the nonlinear relation to a first-order differential equation was regarded to solve that issue [12].…”

Section: Introductionmentioning

confidence: 99%

“…Rotor dynamic in variable pitch imposed a nonlinear algebraic equation which required control allocation [12], or other techniques to find a solution. Turning the nonlinear relation to a first-order differential equation was regarded to solve that issue [12]. An extra differential equation in addition to complex nonlinear dynamics of a multirotor enhances the complexity.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Nekoo

Acosta

Ollero

2019

Advances in Intelligent Systems and Computing

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In this work, a fully coupled six degree-of-freedom (DoF) nonlinear suboptimal control of a variable-pitch quadrotor is studied using a state-dependent Riccati equation (SDRE) controller. The quadrotor control has been widely considered for attitude control; however, the position control is an uncontrollable problem with the common design of the SDRE. Due to the under-actuated nature of a quadrotor, the state-dependent coefficient (SDC) parameterization of statespace representation of a nonlinear system leads to an uncontrollable SDC pair. The control law is divided into two sections of position and attitude control. The position control provides the main thrust. A virtual constraint is regarded to provide stabilization for the quadrotor in attitude control. Two methods were designed for selection of a state vector or in other words, selection of feedback. The first one uses the position and orientation and their derivatives in global coordinate. The second one uses position and orientation in global and their velocities in local coordinate. The dynamics of a variable-pitch propeller quadrotor was imported to the problem and compared with a fixed-pitch propeller system. The simulation of the systems shows that the SDRE is capable of controlling the system with both fixed-and variable-pitch rotor dynamics.

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Section: Variable-pitch Rotor Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Nekoo

Acosta

Ollero

2019

Advances in Intelligent Systems and Computing

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“…where presented a control allocation method for solving the nonlinear relation between force/moment inputs and blade angles by computing the derivative of thrust coefficients [17]. The solution to differential equation and solving a nonlinear relation for practical implementation might be a drawback; as a result, in this current work, a solution is used to find the control allocation based on non-affine structure.…”

Section: Controller Designmentioning

confidence: 99%

Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver

Nekoo

Acosta

Gomez-Tamm

et al. 2019

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)

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Variable-pitch propellers quadrotors possess nonlinear algebraic relations between force/moment of the system and thrust factors of the rotor dynamics. The nonlinear relations make the thrust allocation a challenging topic in overall control design. The state-dependent Riccati equation (SDRE) is selected as a controller for regulation task in fully coupled six degree-of-freedom (DoF) mode. Common designs of the SDRE fail to deliver a fully coupled six-DoF control due to under-actuation. Virtual constraints are used to deliver a position and orientation control in a cascade design. Within the structure of the SDRE, four thrust allocation methods are proposed to compute the thrust factors based on the output results of control system. Practical implementation has been the main reason to generate such allocations. The use of Mean Value Theorem makes it possible to find an implementable formalism for thrust factors since they can be categorized as non-affine systems. Agile and aggressive maneuver is one of the application of the variable-pitch propellers quadrotors; so, flip maneuver is studied to highlight the advantages of the thrust allocation methods. Analysis of the four methods and comparisons are carried out to present the advantages and disadvantages of the proposed structures.

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“…The second category uses an independent electric motor on every VPP unit. These categories with DC motor powerplants take advantage of the performance of the actuator, in which servo motors respond faster than increasing the rotational speed of the propellers, achieving agile maneuvers such as flipping upside down [ 21 , 22 , 23 ]. To enhance the performance of small fixed-wing UAVs, the use of a VPP system has been considered.…”

Section: Introductionmentioning

confidence: 99%

An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs

Chang

Chen

Wen

et al. 2020

Sensors

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This paper presents a control allocation method for enhancing the attitude following performance and the energy efficiency of a variable-pitch propeller (VPP) system on quadrotor-based unmanned aerial vehicles. The VPP system was modeled according to the blade element momentum (BEM) theory, and an actuator allocation method was developed with the aim of enhancing the attitude control and energy performance. A simulation environment was built to validate the VPP system by creating a thrust and moment database from the experiments. A four-motor variable-pitch quadrotor was built for verifying the proposed method. The control allocation method was firstly verified in a simulation environment, and was then implemented in a flight controller for indoor flight experiments. The simulation results show the proposed control allocation method greatly improves the yaw following performance. The experimental results demonstrate a difference in the energy consumption through various pitch angles, as well as a reduction in energy consumption, by applying this VPP system.

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Robust nonlinear control of a variable-pitch quadrotor with the flip maneuver

Cited by 42 publications

References 32 publications

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver

An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs

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