Centralized predictive ceiling interaction control of quadrotor VTOL UAV

Koçer, Başaran Bahadır; Tjahjowidodo, Tegoeh; Seet, Gerald

doi:10.1016/j.ast.2018.02.020

Cited by 49 publications

(26 citation statements)

References 32 publications

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“…This resulted in a better performance as compared to the conventional case. In summary, due to the significant changes in aerodynamic characteristics with the ceiling effect, there has been not enough successful flight demonstration in close proximity mode with the exception of our previous results [18], which was based on the nominal conditions.…”

Section: Related Workmentioning

confidence: 64%

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Koçer

Tiryaki

Pratama

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints to safely fly in close proximity. To address these challenges, a novel framework consisting of a constrained optimization-based force estimation and an optimization-based nonlinear controller is proposed. Experimental results illustrate that the performance of the proposed control approach can stabilize UAV down to 1 cm distance to the ceiling. Furthermore, we report that the UAV consumes up to 12.5% less power when it is operated 1 cm distance to ceiling, which is promising potential for more battery-efficient inspection flights.

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Section: Related Workmentioning

confidence: 64%

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Koçer

Tiryaki

Pratama

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…16 Especially, the recent progress in the computational tools enabled its utilization on faster and more complex systems. 17,18 As an instance, a well-structured approach that uses quadratically constrained quadratic programming formulation can be seen in Heussen et al 19 and Koller et al 20 This comprehensive work proposes a unified modeling procedure for the power system using the analogy between state spaces and actual energy storage systems. However, some of the constraints in the problem definition may cause nonconvexity.…”

Section: Optimization Methods For Microgridsmentioning

confidence: 99%

“…Especially, the recent progress in the computational tools enabled its utilization on faster and more complex systems. ()…”

Section: Related Workmentioning

confidence: 99%

Design and analysis of an aging‐aware energy management system for islanded grids using mixed‐integer quadratic programming

et al. 2019

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Summary The rapid increase of renewable energy sources made coordinated control of the distributed and intermittent generation units a more demanded task. Matching demand and supply is particularly challenging in islanded microgrids. In this study, we have demonstrated a mixed‐integer quadratic programming (MIQP) method to achieve efficient use of sources within an islanded microgrid. A unique objective function involving fuel consumption of diesel generator, degradation in a lithium‐ion battery energy storage system, carbon emissions, load shifting, and curtailment of the renewable sources is constructed, and an optimal operating point is pursued using the MIQP approach. A systematic and extensive methodology for building the objective function is given in a sequential and explicit manner with an emphasis on a novel model‐based battery aging formulation. Performance of the designed system and a sensitivity analysis of resulting battery dispatch, diesel generator usage, and storage aging against a range of optimization parameters are presented by considering real‐world specifications of the Semakau Island, an island in the vicinity of Singapore.

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“…After implementing the developed force feedback control algorithm, UAV was able to fly very close to the ceiling that is enough to see a considerable ceiling effect. Although our aim was to design a controller which can help UAV to fly [10] under strong disturbances; we have observed that ceiling effect can be utilized by the UAV to reduce control effort. In these experiments, the current drawn from the battery is reduced from the range of 9.5 A to 8 A range in the vicinity of the ceiling.…”

Section: Battery Lifetime Analysismentioning

confidence: 99%

“…UAV thrust characteristics in close proximities[10] UAV interaction scheme: estimation and control structure…”

mentioning

confidence: 99%

UAV Control in Close Proximities - Ceiling Effect on Battery Lifetime

Koçer

Kumtepeli

Tjahjowidodo

et al. 2019

2019 2nd International Conference on Intelligent Autonomous Systems (ICoIAS)

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With the recent developments in the unmanned aerial vehicles (UAV), it is expected them to interact and collaborate with their surrounding objects, other robots and people in order to wisely plan and execute particular tasks. Although these interaction operations are inherently challenging as compared to free-flight missions, they might bring diverse advantages. One of them is their basic aerodynamic interaction during the flight in close proximities which can result in a reduction of the controller effort. In this study, by collecting real-time data, we have observed that the current drawn by the battery can be decreased while flying very close to the surroundings with the help of the ceiling effect. For the first time, this phenomenon is analyzed in terms of battery lifetime degradation by using a simple full equivalent cycle counting method. Results show that cycling related effect on battery degradation can be reduced by a 15.77% if the UAV can utilize ceiling effect.Index Terms-UAV, model predictive control, battery lifetime, energy efficiency, ceiling effect, ground effect, interaction control, longer flight time.

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Centralized predictive ceiling interaction control of quadrotor VTOL UAV

Cited by 49 publications

References 32 publications

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Design and analysis of an aging‐aware energy management system for islanded grids using mixed‐integer quadratic programming

UAV Control in Close Proximities - Ceiling Effect on Battery Lifetime

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