A new UAV configuration having eight rotors: Dynamical model and real-time control

Romero, Hugo; Salazar, Sergio; Sánchez, Anand; Lozano, Rogelio

doi:10.1109/cdc.2007.4434776

Cited by 30 publications

(35 citation statements)

References 8 publications

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“…Our proof is based on a compact representation of the closed loop wherein the solutions of the time-varying dynamics is embedded into a time-invariant differential inclusion, in ways that are similar to the strategy in [22], even though the approach adopted here does not require the (somewhat stringent) assumptionω p be bounded (this assumption becomes necessary when following the approach in [22]). By introducing x a := (R e , e ω ) ∈ T SO(3) and x p := (e x , e x ) ∈ R 6 , the solutions to the attitude error dynamics (34)-(35) and the position error dynamics (16), (25) can be embedded within the solution funnel generated by the following constrained differential inclusion:…”

Section: Complete Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Invernizzi

Lovera

Zaccarian

2020

IEEE Trans. Automat. Contr.

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This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks. Since position tracking is of utmost importance for applications involving aerial vehicles, we propose a control scheme in which position tracking is the primary objective. To this end, this work introduces the concept of attitude planner, a dynamical system through which the desired attitude reference is processed to guarantee the satisfaction of the primary objective: the attitude tracking task is considered as a secondary objective which can be realized as long as the desired trajectory satisfies specific trackability conditions. Two numerical simulations are performed by applying the proposed control law to a hexacopter with and without tilted propellers, which accounts for unmodeled dynamics and external disturbances not included in the control design model.

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Section: Complete Dynamicsmentioning

confidence: 99%

“…Theorem 2: Consider the closed-loop system described by (16), (25) and (34), (35) controlled by (24), (31) and the planner output given by…”

Section: Complete Dynamicsmentioning

confidence: 99%

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Invernizzi

Lovera

Zaccarian

2020

IEEE Trans. Automat. Contr.

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“…Moreover, optical flow which is the estimation of the motion field created by a moving camera with respect to a rigid scene, plays a more Eduardo.Rondon@hds.utc.fr and more important role in the development of robotics. In the literature, optical flow is widely used for the design of navigation algorithms [3], obstacle avoidance [4] and robot stabilization [5]. Furthermore, because translational optical flow is inversely proportional to the distance between the image plane and the surrounding objets, it can be used as a notion of relative positioning.…”

Section: Introductionmentioning

confidence: 99%

Optical flow-based controller for reactive and relative navigation dedicated to a four rotor rotorcraft

Rondon

Fantoni-Coichot

Sánchez

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Autonomous navigation of an unmanned aerial vehicle (UAV) can be achieved with a reactive system which allows the robot to overcome all the unexpected changes in its environment. In this article, we propose a new approach to avoid frontal obstacles using known properties of the optical flow and by taking advantage of the capability of stationary flight of the rotorcraft. A state machine is proposed as a solution to equip the UAV with all reactions necessary for indoor navigation. We show how smooth transitions can be achieved by decreasing the speed of the vehicle proportional to the distance to an obstacle and by brief instants of hovering flight. Each stage of our algorithm has been tested in a mobile robot.

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“…In order to handle this problem, Romero et al [18] developed a quadrotor UAV with additional four rotors mounted horizontally on the tips of each arm of the vehicle chassis. They modeled the system via Euler-Lagrange method, designed a PD control system for the position and attitude, and performed several flight tests.…”

Section: Introductionmentioning

confidence: 99%

Design and flight tests of a holonomic quadrotor UAV with sub-rotor control surfaces

Çetinsoy

2013

2013 IEEE International Conference on Mechatronics and Automation

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In this work, a quadrotor helicopter UAV with sub-rotor control surfaces for non-inclined horizontal motion is designed. Dynamic model of the air vehicle and an eight output PID control system is designed for controlling both the rotor speeds and control surface angles. The performance of this control system on the air vehicle is presented through simulation results with severe wind conditions and initial flight test results acquired from the prototype.

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A new UAV configuration having eight rotors: Dynamical model and real-time control

Cited by 30 publications

References 8 publications

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Dynamic Attitude Planning for Trajectory Tracking in Thrust-Vectoring UAVs

Optical flow-based controller for reactive and relative navigation dedicated to a four rotor rotorcraft

Design and flight tests of a holonomic quadrotor UAV with sub-rotor control surfaces

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