Benchmark de control de la orientación de un multirrotor en una estructura  de rotación con tres grados de libertad

Rico-Azagra, Javier; Gil-Martínez, Montserrat; Rico, R.; Nájera, S.; Elvira, Clément

doi:10.4995/riai.2021.14356

Cited by 10 publications

(8 citation statements)

References 26 publications

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“…At the base of the UAV flight government is the control of its orientation (roll, pitch and yaw angles), this being the proposal for the CIC2022 [42]. It uses the testbed of Figure 1, which consists of a fully equipped quadrotor attached to a structure that allows free rotation in 3D without translation [43]. A flight controller is on board and the design of the control algorithms that will be implemented in it is the problem to be solved by the contestants.…”

Section: A Testbedmentioning

confidence: 99%

“…To VOLUME 10, 2022 overcome these drawbacks, the trend has been to use testbed platforms representing real laboratory-scale processes on which to develop practices to improve the acquisition of knowledge and skills [35]- [41]. The current proposal extends this philosophy by adding a competitive component, giving rise to a national competition under the umbrella of the Spanish Committee of Automatics (CEA) [42], [43], to asses whether this new approach improves the learning process.…”

Section: Introductionmentioning

confidence: 99%

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Learning Enhancement of Control Engineering: A Competition-Based Case

2023

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The transition from academic training to professional life is not an easy task. In recent years, various learning enhancement methodologies have emerged to reduce this gap, which focuses on both soft and technical skills. Specifically, Competition-Based Learning (CBL) seeks to improve learning and motivation through the competitive component, which has detractors and defenders. In this framework, the present work proposes a national competition, CIC2022, within the field of control engineering that uses a testbed with an Unmanned Aerial Vehicle (UAV) for helping to link theory and practice. The main objective is to analyze the results of CBL on learning. In addition to explaining the characteristics of the competition and the academic results obtained, a survey answered by participants provides conclusions on the effectiveness of the methodology and other issues related to the contest. Greater motivation and teamwork promoted the active learning of students and improved the autonomous acquisition of technical skills.

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Section: A Testbedmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Learning Enhancement of Control Engineering: A Competition-Based Case

2023

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“…The experimental setup and non-linear model considered in this work have been taken from [24]. In this study, a fully equipped quadrotor is affixed to a structure that permits unrestricted rotation without translation.…”

Section: System Frameworkmentioning

confidence: 99%

“…We use the experimental setup in [24] as our starting point. The test bench includes a fully equipped quad-rotor that rotates without displacement; these platforms are very popular for eliminating risky flight testing during controller design [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation

et al. 2023

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This study focuses on the modeling and control optimization of the pitch–roll angles orientation in a quad-rotor UAV (unmanned aerial vehicle) drone system. To address the control challenge, PID (proportional–integral–derivative) controllers are used, which have been tuned through a model-based optimization approach. A non-linear model of the system is obtained and further validated experimentally. The model is implemented in Simulink to conduct model-based optimization. The controller design uses an IMC (internal model control) model-based approach to establish the initial parameters for a PID controller. In the subsequent design phase, a multiobjective approach is taken, incorporating weighted cost functions that account for IAE (integral absolute error) and ITAE (integral of time-weighted absolute error) forms, along with battery usage. The outcomes of this design are showcased through simulations and real-world platform testing.

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“…La plataforma desarrollada en (Rico-Azagra et al, 2016a;Nájera et al, 2019) y posteriormente utilizada como benchmark de control en (Rico-Azagra, et al, 2021), permite el giro libre de un cuatrirrotor según sus tres ejes de rotación principales, restringe su desplazamiento, pero posibilita alcanzar la orientación angular deseada en el sistema inercial terrestre (Figura1).…”

Section: Introductionunclassified

Plataforma giroscópica mejorada para la práctica docente en Ingeniería de control

Nájera,

Zambrano,

Rico

et al. 2023

XLIV Jornadas De Automática: Libro De Actas: Universidad De Zaragoza, Escuela De Ingeniería Y Arquitectura, 6, 7 Y 8 De Septiem

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Los vehículos aéreos no tripulados (UAV) han tenido una importante evolución en todos los sectores. Para el correcto desarrollo de sus capacidades ha sido necesario su adecuado modelado, desarrollo de sistemas de control, implementación de los mismos y evaluaciones en campo. Este último punto es complejo desde el punto de vista docente, ya que las pruebas en exterior son impracticables. Para ello se han desarrollado plataformas que facilitan los experimentos de modelado y evaluación de las capacidades del UAV. Un trabajo reciente recoge el desarrollo de una plataforma giroscópica para el control de actitud y orientación de UAVs, que integra tanto elementos mecánicos y de comunicación, como un sistema software para la carga y prueba de controladores en el UAV. Dicha plataforma ha sido utilizada para diversos propósitos, como concursos educativos de Ingeniería de Control por sus prestaciones y facilidad de uso (compatibilidad con Simulink). Sin embargo, a pesar de la facilidad y la versatilidad que aporta, ha presentado algunas carencias a lo largo de su uso; rozamientos asimétricos, centro de gravedad desplazado, controladora de vuelo con capacidad de cómputo limitada, capa baja de control sin supervisión, y motores con capacidad limitada, entre otros. Este trabajo presenta las mejoras realizadas sobre dicha plataforma para la corrección de estas carencias, mediante el diseño de una nueva estructura de UAV, el empleo de un nuevo diseño de controladora de vuelo y la introducción de nuevos sistemas de propulsión.

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Benchmark de control de la orientación de un multirrotor en una estructura de rotación con tres grados de libertad

Cited by 10 publications

References 26 publications

Learning Enhancement of Control Engineering: A Competition-Based Case

Learning Enhancement of Control Engineering: A Competition-Based Case

Model-Based Optimization Approach for PID Control of Pitch–Roll UAV Orientation

Plataforma giroscópica mejorada para la práctica docente en Ingeniería de control

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