Aerodynamic Disturbance Rejection Acting on a Quadcopter Near Ground

Matus-Vargas, Antonio; Rodríguez-Gómez, Gustavo; Martínez-Carranza, José

doi:10.1109/codit.2019.8820321

Cited by 5 publications

(9 citation statements)

References 17 publications

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“…While the ground effect is present, the UAV requires less power to hover due to additional thrust, however, the ground effect also makes stabilization with conventional controllers challenging due to the unknown disturbances. In [107], it was shown that a controller, that is used to stabilize the UAV in mid-air, produces oscillations while the UAV is affected by the ground effect. In a WTB scenario, when the UAV is close to ground, especially towards the tip of the blade, it will experience the ground effect, affecting navigation due to oscillations.…”

Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

“…In a WTB scenario, when the UAV is close to ground, especially towards the tip of the blade, it will experience the ground effect, affecting navigation due to oscillations. [107] proposed an adaptive control method using rapidly switching controllers when the UAV is in close proximity to the ground. While the control method used in [107] has reduced the altitude error produced by the ground effect, the height threshold for switching controllers was chosen arbitrarily based on known Z R range.…”

Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

“…[107] proposed an adaptive control method using rapidly switching controllers when the UAV is in close proximity to the ground. While the control method used in [107] has reduced the altitude error produced by the ground effect, the height threshold for switching controllers was chosen arbitrarily based on known Z R range. In [108], the ground effect is treated as an always present unknown disturbance estimated by a Kalman filter and compensated for by a Model Predictive Control (MPC).…”

Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

See 2 more Smart Citations

Internal Wind Turbine Blade Inspections Using UAVs: Analysis and Design Issues

Kulsinskas,

Durdevic,

Ortiz-Arroyo

2021

Energies

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Interior and exterior wind turbine blade inspections are necessary to extend the lifetime of wind turbine generators. The use of unmanned vehicles is an alternative to exterior wind turbine blade inspections performed by technicians that require the use of cranes and ropes. Interior wind turbine blade inspections are even more challenging due to the confined spaces, lack of illumination, and the presence of potentially harmful internal structural components. Additionally, the cost of manned interior wind turbine blade inspections is a major limiting factor. This paper analyses all aspects of the viability of using manually controlled or autonomous aerial vehicles for interior wind turbine blade inspections. We discuss why the size, weight, and flight time of a vehicle, in addition to the structure of the wind turbine blade, are the main limiting factors in performing internal blade inspections. We also describe the design issues that must be considered to provide autonomy to unmanned vehicles and the control system, the sensors that can be used, and introduce some of the algorithms for localization, obstacle avoidance and path planning that are best suited for the task. Lastly, we briefly describe which non-destructive test instrumentation can be used for the purpose.

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Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

Section: Aerodynamic Disturbances and Mitigationmentioning

confidence: 99%

See 1 more Smart Citation

Internal Wind Turbine Blade Inspections Using UAVs: Analysis and Design Issues

Kulsinskas,

Durdevic,

Ortiz-Arroyo

2021

Energies

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“…In Reference [11], we have shown that the position control performance under the ground effect can be enhanced with a rapid switching control algorithm. The position feedback was provided by an external motion capture system at a high frequency.…”

Section: Related Workmentioning

confidence: 99%

“…For multirotors, empirical models have been developed [7,8]. Furthermore, several control schemes have been proposed for compensating the ground effect in quadrotors such as adaptive [9], fuzzy [10], sliding mode [7] and multi-controller [11]. However, the studies above have only considered the case in which there are no faults in the multirotor.…”

Section: Introductionmentioning

confidence: 99%

A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect

Matus-Vargas

Gómez

Martínez-Carranza

2019

Sensors

Self Cite

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Multirotor micro air vehicles can operate in complex and confined environments that are otherwise inaccessible to larger drones. Operation in such environments results in airflow interactions between the propellers and proximate surfaces. The most common of these interactions is the ground effect. In addition to the increment in thrust efficiency, this effect disturbs the onboard sensors of the drone. In this paper, we present a fault-tolerant scheme for a multirotor with altitude sensor faults caused by the ground effect. We assume a hierarchical control structure for trajectory tracking. The structure consists of an external Proportional-Derivative controller and an internal Proportional-Integral controller. We consider that the sensor faults occur on the inner loop and counteract them in the outer loop. In a novel approach, we use a metric monocular Simultaneous Localization and Mapping algorithm for detecting internal faults. We design the fault diagnosis scheme as a logical process which depends on the weighted residual. Furthermore, we propose two control strategies for fault mitigation. The first combines the external PD controller and a function of the residual. The second treats the sensor fault as an actuator fault and compensates with a sliding mode action. In either case, we utilize onboard sensors only. Finally, we evaluate the effectiveness of the strategies in simulations and experiments.

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