Control Methods Design for a Model of Asymmetrical Quadrocopter

Beniak, Ryszard; Gudzenko, Oleksandr

doi:10.14313/jamris_2-2016/14

Cited by 4 publications

(9 citation statements)

References 11 publications

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“…To make our reasoning more complex, we study aggressive maneuvers of the drone and allow for variable as well as instantly changing speed and/or direction of the wind. The work is a continuation of the research presented in papers [6,7].…”

Section: Introductionmentioning

confidence: 80%

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Online identification of wind model for improving quadcopter trajectory monitoring

Beniak

Gudzenko

2017

E3S Web Conf.

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Abstract. In this paper, we consider a problem of quadcopter control in severe weather conditions. One type of such weather conditions is a strong variable wind. In this paper, we ponder deterministic and stochastic models of winds at low altitudes with the quadcopter performing aggressive maneuvers. We choose an adaptive algorithm as our control algorithm. This algorithm might seem suitable one to solve the given problem, as it is able to adjust quickly to changing conditions. However, as shown in the paper, this algorithm is not applicable to rapidly changing winds and requires additional filters to smooth the impulse streams, so as not to lose the stability of the object.

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Section: Introductionmentioning

confidence: 80%

“…This model takes into account that the considered quadcopter is asymmetric with respect to its center of mass (5). The model is described in detail in [6,7]. In contrast to the model presented in [6,7], in this paper, we will examine in detail the resistance forces to the motion of a quadcopter.…”

Section: Quadcopter Modelmentioning

confidence: 99%

Online identification of wind model for improving quadcopter trajectory monitoring

Beniak

Gudzenko

2017

E3S Web Conf.

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“…The purpose of this paper is to provide an universal algorithm for quadcopter adaptive control along a given trajectory and to assess its effectiveness. This paper is a continuation of the work presented in [18][19]. Article [19] shows the degree of effective control's dependence on the scope of accurate knowledge on the model parameters.…”

Section: Introductionmentioning

confidence: 82%

“…1). A detailed description of the mathematical model of an asymmetric quadcopter (1) is presented in [18]. The equations in the form (2) relate angle speed of motor rotation with the driving force and moments.…”

Section: Development Of the Mathematical Modelmentioning

confidence: 99%

Development of Adaptive Control for an Asymmetric Quadcopter

Beniak¹,

Gudzenko²

2020

PAR

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The paper presents an adaptive control algorithm for an asymmetric quadcopter. For determining the control algorithm, the identification was made, and an identification algorithm is presented in the form of a recursive method. The control method is realized using inverse dynamics, full state feedback and finally adaptive control method. The algorithms for the off-line and on-line identification of quadcopter model parameters are also presented. The paper shows the effectiveness of the selected algorithm on the example of the movement along a given trajectory. Finally, recommendations of the application of these different methods are made.

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“…In addition to the publications related to the mechanical and electronic parts, they are also publications covering the mathematical description of the multi-rotor [7]. These issues relate to, for example, the mathematical description of the dynamics of unmanned aircraft [8] or the use of mathematical models for control purposes [9].…”

Section: Introductionmentioning

confidence: 99%

Design and experimental research of a quadrocopter flying robot

Suchanek

Ciesielka

2018

E3S Web Conf.

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The drone is an unmanned aerial vehicle. Currently, many commercially available remote controlled flying toys are used to be called drones. This is an erroneous nomenclature, because the drone must have an autonomus flight function implemented. Due to it's simple mechanical construction, the most popular drones are in the form of a multirotor, in which arrangement the engines are placed in one plane. One of the most important advantages of this type of robots is the ability to maintain a certain position in space. Today, this allowed for e.g. taking photos from the air or inspecting hard-to-reach places. For use for environmental protection purposes, drone equipped with appropriate sensors and instrumentation may be used to monitor air pollution. The mechanical part of a quadrocopter flying robot was based on a TAROT frame with a 450mm engines spacing. The frame has been expanded with a dedicated set of legs to raise the clearance up to 150mm. Four dedicated EMAX MT2213 electric motors were installed on the frame, which are the main drive. They are characterized by the propeller hub-free-mounting, which minimizes possible imbalances. A single engine cooperating with a dedicated 10-inch propeller and a 4.5-inch pitch generates a maximum thrust of a 0.85kg. In the case of this system, it sums to a total of 3.4 kg. The weight of the ready to flight robot is 1.35 kg. To power the robot, a lithium-polymer battery with a capacity of 2.2 Ah is used, providing flight time of about 8 minutes. The basic work mode of the robot is a manual one, which means a self leveling mode with manual control. In addition to this mode, an autonomous navigation mode using GPS coordinates has been implemented. This navigation mode was also been tested during field tests. The operation of this navigation mode is very similar to the position maintaining mode, but operates on a larger scale. The robot in this mode is vectorically controlled, performing forwards/backwards and sideways movements to the set location.

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Control Methods Design for a Model of Asymmetrical Quadrocopter

Abstract: Abstract:The

Cited by 4 publications

References 11 publications

Online identification of wind model for improving quadcopter trajectory monitoring

Online identification of wind model for improving quadcopter trajectory monitoring

Development of Adaptive Control for an Asymmetric Quadcopter

Design and experimental research of a quadrocopter flying robot

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