Advanced Flight Dynamic Modelling of Variable Pitch Quadrotor

Chipade, Vishnu S.; Abhishek, Abhishek; Kothari, Mangal

doi:10.2514/6.2018-1763

Cited by 8 publications

(12 citation statements)

References 6 publications

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“…1). The research presented in the existing literature on the use of variable pitch actuation in quadcopter makes the use of symmetric airfoil in propeller blades [16], [15]. Such multicopters can provide high maneuverability but do not provide necessary controllability under failure.…”

Section: Heliquad Design and Modellingmentioning

confidence: 99%

“…Benefits of variable pitch actuation over standard fixed-pitch such as high actuator bandwidth, generation of negative thrust, and sustained inverted flight, are presented in [15]. A detailed dynamic model considering the influence of generalized motion on the propeller's aerodynamics is analyzed in [16]. Nonlinear dynamic inversion control for trajectory tracking is investigated in [17].…”

Section: Introductionmentioning

confidence: 99%

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Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator

Kulkarni¹,

Sundaram²

2020

Preprint

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In this paper, we design a reliable Heliquad and develop an intelligent controller to handle the complete failure of one actuator. Heliquad is a multi-copter similar to Quadcopter, with four actuators diagonally symmetric from the center. Each actuator has two control inputs; the first input changes the collective pitch of the propeller blades (also called variable pitch), and the other input changes the rotation speed. For reliable operation and to handle high torque characteristic requirement for yaw control, a cambered airfoil is used to design propeller blades. A neural network based based control allocation is designed to provide complete control authority even under a complete loss of one actuator. Nonlinear quaternion based outer loop position control, with proportionalderivative inner loop for attitude control and neural networkbased control allocation is used in controller design. The proposed controller and Heliquad design's performance is evaluated using a software-in-loop simulation to track the position reference command under failure. The results clearly indicate that the Heliquad with an intelligent controller provides necessary tracking performance even under a complete loss of one actuator.

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Section: Heliquad Design and Modellingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator

Kulkarni¹,

Sundaram²

2020

Preprint

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“…The diverse civilian applications of UAVs include [46][47][48] communication relaying, traffic monitoring, firefighting, security, plant protection, logistics, reconnaissance, maritime observation, wildlife monitoring, search and rescue, remote sensing, photography, filmmaking, demining, emergency response [49], precision agriculture [50], mapping [51], civil engineering [52], law enforcement [53], and scientific research [54]. UAVs have increasing benefits in supply chain logistics, inventory applications [55][56][57][58], distribution centers [59][60][61], and in metropolitan areas [62] due to their capacity to ship up to sixkilogram payloads, up to sixteen-kilometer ranges [63]. Therefore, UAV-based package delivery is one of the most featured applications [64,65].…”

Section: Introductionmentioning

confidence: 99%

Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem

Khalaf-Allah

2021

Sensors

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At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem. The proposed DM reduces this problem to the solution of a quadratic equation, exploiting the knowledge about the workspace, to first estimate the x- or z-coordinate, and then the remaining two coordinates. The implemented PF uses 1000 particles to represent the posterior probability density function (PDF) of the AN’s 3D position. The prediction step generates new particles by a resampling procedure. The ToA measurements determine the importance of these particles to enable updating the posterior PDF and estimating the 3D position of the AN. Simulation results corroborate the viability of the developed DM and PF algorithms, in terms of accuracy and computational cost, in the pursuit and circumnavigation scenarios, and even with a horizontally coplanar arrangement of the three ANs. Therefore, it is possible to enable applications requiring real-time positioning, such as unmanned aerial vehicle (UAV) autonomous docking and circling a stationary (or moving) position, without the need for an excessive number of ANs.

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“…Unmanned aerial vehicles (UAVs) have irrupted from military and domestic entertainment uses, to distribution centers, count inventory warehouses, and supply chain logistics [1,2]. UAVs have high potential for bundle delivery in civil applications [3], having in the key speed capability, showed in several pilot tests (Amazon, Google), although yet adoption intention is still vague, because of many factors [4,5]. In logistics area, the feasibility of these flying artifacts has also been stated [6].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

“…These routes must accommodate the physical constraints (locations of goods, delivery points), as in the vehicle routing problem [9]. UAVs have shown capabilities for delivering six kg payload to sixteen-kilometer distances [5], and demand as well as benefits in metropolitan areas have been estimated [10]. In urban and rural areas, UAVs have shown even lower environmental impact than traditional delivery systems [11].…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

Methodology for Indoor Positioning and Landing of an Unmanned Aerial Vehicle in a Smart Manufacturing Plant for Light Part Delivery

et al. 2020

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Unmanned aerial vehicles (UAV) are spreading their usage in many areas, including last-mile distribution. In this research, a UAV is used for performing light parts delivery to workstation operators within a manufacturing plant, where GPS is no valid solution for indoor positioning. A generic localization solution is designed to provide navigation using RFID received signal strength measures and sonar values. A system on chip computer is onboarded with two missions: first, compute positioning and provide communication with backend software; second, provide an artificial vision system that cooperates with UAV’s navigation to perform landing procedures. An Industrial Internet of Things solution is defined for workstations to allow wireless mesh communication between the logistics vehicle and the backend software. Design is corroborated through experiments that validate planned solutions.

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Advanced Flight Dynamic Modelling of Variable Pitch Quadrotor

Cited by 8 publications

References 6 publications

Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator

Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator

Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem

Methodology for Indoor Positioning and Landing of an Unmanned Aerial Vehicle in a Smart Manufacturing Plant for Light Part Delivery

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