Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Kotarski, Denis; Piljek, Petar; Brezak, Hrvoje; Kasač, Josip

doi:10.21278/tof.42101

Cited by 11 publications

(8 citation statements)

References 14 publications

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“…The first step in the algebraic observer design is also the annihilation of initial conditions. The annihilation operator (18) with the real frequency shift is used in combination with the similar invariant filtering procedure as in Subsection 3.2.…”

Section: Fsb Algebraic Observermentioning

confidence: 99%

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Frequency‐shifting‐based algebraic approach to stable on‐line parameter identification and state estimation of multirotor UAV

Kasač

Kotarski

Piljek

2019

Asian Journal of Control

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In this paper, a frequency-shifting-based (FSB) algebraic approach to stable on-line parameter identification and state estimation is proposed. The proposed simultaneous parameter identification and state estimation algebraic approach are applied to multirotor adaptive-like tracking control assuming that only position measurement is available. The proposed algebraic approach provides very fast convergence towards true values of system parameters and states, without transients that depend on initial conditions and without peaking phenomenon which is characteristics of high-gain observers. The efficiency of the proposed algorithm is illustrated by a simulation example.

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Section: Fsb Algebraic Observermentioning

confidence: 99%

“…In , a design and control of fully actuated passively tilted multirotor are proposed. The non‐flat design with passively tilted rotors can overcome the inherent underactuated property of the flat multirotor configurations, as shown in Figure .…”

Section: Multirotor Dynamic Modelmentioning

confidence: 99%

Frequency‐shifting‐based algebraic approach to stable on‐line parameter identification and state estimation of multirotor UAV

Kasač

Kotarski

Piljek

2019

Asian Journal of Control

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“…Rotors can be rotated around two axes, either actively or passively, so it is important to define Generalized Control Allocation Scheme for Multirotor Type of UAVs http://dx.doi.org/10.5772/intechopen.73006 a geometric arrangement for different designs. Those configurations can be classified as nonflat multirotor configurations (NFMRC) [21].…”

Section: Nonconventional Propulsion Arrangementsmentioning

confidence: 99%

“…The assumption is that the position of the rotor lies in the X B Y B plane, so the third coordinate equals zero, Figure 6. Rotor coordinate systems [21]. Drones -Applications…”

Section: Rotor Unit Positionmentioning

confidence: 99%

Generalized Control Allocation Scheme for Multirotor Type of UAVs

Kotarski¹,

Kasač²

2018

Drones - Applications

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Unmanned aerial vehicles (UAVs) are autonomous or remotely guided aircraft, which can potentially carry out a wide range of tasks. Multirotor type of UAV has unique ability to perform vertical takeoff and landing (VTOL), a stationary and low-speed flight where certain configurations can achieve very complex and precise movements. Therefore, they are suitable for performing tasks such as delivery of first aid kit, firefighting, infrastructure inspection, aerial video, and many others. In this chapter, a generalized control allocation scheme for a multirotor UAV is presented, which describes the mapping of rotor angular velocities to the control vector of the aircraft. It enables control and design of multirotor configurations with diverse geometrical arrangement and characteristics of the propulsion subsystem depending on the task, which multirotor has to carry out. The inverted scheme, which is implemented as a motor mixer, maps the control inputs into a set of aircraft actuator outputs.

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“…A frame for handling of the path with zero curvature and reducing the complexity of the control law was introduced and the controller design had been achieved by transverse feedback linearization and a parallel transport frame [9]. A robust chattering-free sliding mode asymptotic tracking control design is presented for a fully actuated multirotor [10]. A disturbance observer-based model predictive controller is designed for image-based visual servoing of underwater vehicles subject to field-of view constraint, actuator saturation, and external disturbances [11].…”

Section: Introductionmentioning

confidence: 99%

An Incremental Feedback Control for Uncertain Mechanical System

Guo

et al. 2020

IEEE Access

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This paper focuses on the tracking problem for fully-actuated mechanical systems with uncertain parameters and external disturbances. Based on the state feedback control of contraction analysis, the robust controller with extra gains is suggested to provide for the tracking of mechanical systems with uncertainties. The proposed control scheme can be redesigned with dual ideas and theoretically prove that the robust control renders uniform roundedness. Further more, the inertia matrices being uniformly bounded above are limited. The simulation is proposed to account for the effectiveness and robustness of the provided method. INDEX TERMS Increment, contraction analysis, fully-actuated system, robust control.

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Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Cited by 11 publications

References 14 publications

Frequency‐shifting‐based algebraic approach to stable on‐line parameter identification and state estimation of multirotor UAV

Frequency‐shifting‐based algebraic approach to stable on‐line parameter identification and state estimation of multirotor UAV

Generalized Control Allocation Scheme for Multirotor Type of UAVs

An Incremental Feedback Control for Uncertain Mechanical System

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