Robustness Studies on Quadrotor Control

Brossard, Jeremy; Bensoussan, David; Landry, René; Hammami, Mohamed Ali

doi:10.1109/icuas.2019.8798198

Cited by 11 publications

(5 citation statements)

References 9 publications

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“…Flight control algorithms have not been programmed in the FPGA. Although its implementation would allow the use of advanced control strategies regarding system uncertainty [27,28], thus reaching an optimal result, the great complexity of integrating flight control algorithms with the management of energy, as well as the electronic speed controllers (ESCs) and propulsion motors, would give rise to an entire H-UAS instead of a universal hybrid power source. Figure 6 shows a diagram of the system's simplified architecture.…”

Section: Methodsmentioning

confidence: 99%

Preliminary Results of a Hybrid Thermoelectric Propulsion System for a Multirotor UAS with Active Rectifying, Electronic Throttle Control and Supercapacitors

et al. 2021

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The main drawback of unmanned aerial systems (UAS) is that almost their entire field of application is autonomous in terms of energy. Flights beyond 50 min are nearly impossible when using conventional energy storage systems (lithium-ion polymer or lithium-ion batteries). Several commercial products have been developed using hybrid systems (H-UAS). Although the improvement they have provided is undeniable, H-UAS in the present market are strongly limited by their low thrust vs. weight ratio, which is caused by limited electrical power generation and a non-optimal energy conversion with relatively low efficiencies. This paper reviews these systems to show the preliminary results of a prototype of hybrid generator which state-of-the-art electronics as well as a new approach using a supercapacitor (SC) array are used to save fuel, increase the thrust vs. weight ratio, optimize losses during conversion and prevent the overheating of the internal combustion unit (ICU). Whereas current generators mostly operate with the ICU at a constant speed, delivering maximum power, the presented prototype includes a throttle control system, and the engine works with a variable regime according to the power demand. Thus, fuel consumption is reduced, as well as heating and wear. The lifespan of the engine is also increased, and the time between maintenance operations is lengthened. The designed system provides almost twice the power of the hybrid current generators. The reduction in the RPM regime of the engine is achieved by means of a supercapacitor array that provides the necessary energy to keep the DC output power constant during the engine acceleration when the flight envelope experiences a perturbation or a sudden manoeuvre is performed by the pilot. To obtain maximum efficiency, the diode rectifiers and conventional converters used in the reviewed products are replaced by synchronous converters and rectifiers. The whole system is controlled by means of a FPGA where a specific control loop has been implemented for every device: ICU’s throttle, DC bus converter, charge and discharge of the SC’s array, cooling and monitoring of temperature for the cylinders heads, and on-line transmission, by means of a XBEE™ module, of all the monitored data to the flight ground station.

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Section: Methodsmentioning

confidence: 99%

Preliminary Results of a Hybrid Thermoelectric Propulsion System for a Multirotor UAS with Active Rectifying, Electronic Throttle Control and Supercapacitors

et al. 2021

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“…Moreover, an active vibration isolation system was presented for vibration isolation of a surveillance system [9]. A robust vibration control systems with advanced control strategies accounting for system uncertainty have been also studied to reduce vibration occurred in unmanned aerial vehicles, i.e., drones [10][11][12]. These studies have provided useful information for the vibration control and isolation of robotic systems.…”

Section: Introductionmentioning

confidence: 99%

Vibration Isolation of a Surveillance System Equipped in a Drone with Mode Decoupling

et al. 2021

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Vibration isolation with mode decoupling plays a crucial role in the design of an intelligent robotic system. Specifically, a coupled multi-degree-of-freedom (multi-DOF) model accurately predicts responses of system dynamics; hence, it is useful for vibration isolation and control with mode decoupling. This study presents a vibration isolation method with mode decoupling based on system identification, including a coupled multi-DOF model to design intelligent robotic systems. Moreover, the entire procedure is described, including the derivation of the governing equation of the coupled multi-DOF model, estimation of the frequency response function, and parameter estimation using least squares approximation. Furthermore, the suggested methods were applied for a mobile surveillance system suffering from resonances with mode coupling; it made the monitoring performance of the surveillance camera deteriorate. The resonance problem was mitigated by installing vibration isolators, but limited to eliminate the coupling effects of natural frequency deterioration performances of vibration isolation. More seriously, system identification with a simple decoupled model limits the prediction of this phenomenon. Hence, it is difficult to enhance the performance of vibration isolators. In contrast, the presented method can accurately predict the vibration phenomenon and plays a critical role in vibration isolation. Therefore, dynamic characteristics were predicted based on a vibration isolator using the coupled three-DOF model, and a final suggestion is presented here. The experiments demonstrated that the suggested configuration decreased vibration up to 98.3%, 94.0%, and 94.5% in the operational frequency range, i.e., 30–85 Hz, compared to the original surveillance system in the fore-after, side-by-side, and vertical directions, respectively. The analysis suggests that the present method and procedure effectively optimize the vibration isolation performances of a drone containing a surveillance system.

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“…Unmanned aerial vehicles (UAVs) have attracted attention over many years owing to their vital achievements and significant advantages in various applications, such as rescue [ 1 , 2 ], coastal surveillance [ 3 , 4 ], forest monitoring [ 5 , 6 ], military, defense [ 7 , 8 ], and robust control with uncertainties [ 9 , 10 , 11 ]. In comparison with manned aerial vehicles, the control of UAVs is more complex since all tasks are operated autonomously through an embedded flight controller or by a pilot.…”

Section: Introductionmentioning

confidence: 99%

Robust Fault Estimation Using the Intermediate Observer: Application to the Quadcopter

Nguyen

Lin

Phu

et al. 2020

Sensors

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In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequalities (LMIs). To overcome these limitations, in this study, an improved intermediate estimator algorithm was applied to the quadcopter model, which can be used to estimate actuator faults and system states. The system stability was validated using Lyapunov theory. It was shown that system errors are uniformly ultimately bounded. To increase the accuracy of the proposed fault estimation algorithm, a magnitude order balance method was applied. Experiments were verified with four scenarios to show the effectiveness of the proposed algorithm. Two first scenarios were compared to show the effectiveness of the magnitude order balance method. The remaining scenarios were described to test the reliability of the presented method in the presence of multiple actuator faults. Different from previous studies on observer-based fault estimation, this proposal not only can estimate the fault magnitude of the roll, pitch, yaw, and thrust channel, but also can estimate the loss of control effectiveness of each actuator under uncertainties.

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Robustness Studies on Quadrotor Control

Cited by 11 publications

References 9 publications

Preliminary Results of a Hybrid Thermoelectric Propulsion System for a Multirotor UAS with Active Rectifying, Electronic Throttle Control and Supercapacitors

Preliminary Results of a Hybrid Thermoelectric Propulsion System for a Multirotor UAS with Active Rectifying, Electronic Throttle Control and Supercapacitors

Vibration Isolation of a Surveillance System Equipped in a Drone with Mode Decoupling

Robust Fault Estimation Using the Intermediate Observer: Application to the Quadcopter

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