A Hardware-in-the-Loop Platform for Rotary-Wing Unmanned Aerial Vehicles

Pizetta, Igor Henrique Beloti; Brandão, Alexandre Santos; Sarcinelli-Filho, Mário

doi:10.1007/s10846-016-0357-9

Cited by 24 publications

(1 citation statement)

References 24 publications

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“…The research in the field of rotary wing unmanned aerial vehicles (UAVs) has attracted attention from the research and industry communities due to a variety of traditional and emerging applications, from the development of the Internet of things and new generation wireless communication systems, to surveillance schemes, to flight control development devices and theoretical contributions among others (Zeng et al, 2019;Zhan and Huang, 2020;Ferdaus et al, 2020;Ordaz et al, 2023;Pizetta et al, 2016;Ross et al, 2022). and external nature (Zhu and Huo, 2013;Wang et al, 2020), which involve a constant effort to improve the robustness and performance of these systems (Budiyono and Wibowo, 2007;He et al, 2021;Raffo et al, 2015;Rysdyk and Calise, 1999;Kasac et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

Sánchez-Meza,

Lozano-Hernández,

Gutiérrez-Frías

et al. 2023

International Journal of Applied Mathematics and Computer Scien

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This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.

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Section: Introductionmentioning

confidence: 99%

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

Sánchez-Meza,

Lozano-Hernández,

Gutiérrez-Frías

et al. 2023

International Journal of Applied Mathematics and Computer Scien

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A Multi-disciplinary Scenario Simulation for Low-Altitude Unmanned Air Delivery

Schopferer

Donkels

Schirmer

et al. 2021

Automated Low-Altitude Air Delivery

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DLR is Germany's national centre for space and aeronautics research. Its extensive research and development work in aeronautics, space, transportation and energy is integrated into national and international cooperative ventures. Within this series important findings in the different technical disciplines in the field of space and aeronautics, as well as interdisciplinary projects and more general topics are addressed. This demonstrates DLR's outstanding research competences and capabilities to the worldwide scientific community and supports and motivates international research activities in exploring Earth and the universe, while also focusing on environmentally-friendly technologies and promoting mobility, communication and security.

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Bridging the reality gap in drone swarm development through mixed reality

Sende,

Raffelsberger,

Bettstetter

2024

Auton Robot

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Swarm algorithms promise to solve certain problems in large multi-robot systems. The evaluation of large swarms is however challenging as simulations alone often lack some properties of real systems whereas real-world experiments are costly and complex. We present a mixed reality (MR) system that connects simulated and physical robots though a 5G network, facilitating MR experiments to evaluate communication-based swarm algorithms. The effectiveness of the system is demonstrated through extensive experiments with unmanned aerial vehicles. Measurements show that the communication requirements of swarm coordination are well met by 5G but the computing power of the simulation server can be a bottleneck. However, even when the simulation slows down, communication and coordination take place in real time. In conclusion, 5G-enabled MR experiments are a feasible tool for bridging the reality gap in the development and evaluation of robot swarms.

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A Hardware-in-the-Loop Platform for Rotary-Wing Unmanned Aerial Vehicles

Cited by 24 publications

References 24 publications

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

A Multi-disciplinary Scenario Simulation for Low-Altitude Unmanned Air Delivery

Bridging the reality gap in drone swarm development through mixed reality

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