Control of flight parameters of a quadrotor vehicle moving over a given trajectory

Belokon, S. A.; Zolotukhin, Yu. N.; Maltsev, A. S.; Nesterov, A. A.; Филиппов, М. Н.; Yan, A. P.

doi:10.3103/s8756699012050044

Cited by 9 publications

(3 citation statements)

References 5 publications

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“…In the course of the study of the available materials of the Russian-language literature, almost no scientific works and articles were found that dealt with the topic of stabilization of quadrocopters. The most complete and informative are the articles by S.A. Belokon and other researchers from Novosibirsk (Belokon, 2012). The scientists at the MTI Aerospace Laboratory have developed a control method that is unique: it uses variable pitch and follower propellers instead of a standard propeller.…”

Section: Methodsmentioning

confidence: 99%

Simulation of quadcopter flight altitude stabilization system

Babich¹,

Butaev²,

Pashchenko

et al. 2020

Nexo Revista Científica

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Recently, unmanned aerial vehicles have been an important part of scientific research in various fields. Quadrocopter is an unmanned aerial vehicle with four rotors, two of which rotate clockwise, the other two counterclockwise. Changing the speed of screw rotation allows you to control the movement of the apparatus. The article proposed and tested a mathematical model of a quadcopter. They presented the development of a simple control algorithm that allows to stabilize the height and angular position. The research results show the efficiency of the algorithm and the possibility of its practical implementation. The developed mathematical model can be used instead of a real quadcopter, which will significantly reduce the time during research, as well as avoid the quadrocopter damage, reducing the number of launches.

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Section: Methodsmentioning

confidence: 99%

Simulation of quadcopter flight altitude stabilization system

Babich¹,

Butaev²,

Pashchenko

et al. 2020

Nexo Revista Científica

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“…The mathematical model of UAV motion as a control object was formed on the basis of the computational scheme (Fig. 1), in which a four-engine unmanned aerial vehicle was considered as a solid body with known [7] aerodynamic properties and assumptions.…”

Section: Mathematical Model Of Uav Movement In Mine Conditionsmentioning

confidence: 99%

Development of automatic system for Unmanned Aerial Vehicle (UAV) motion control for mine conditions

Kim¹,

Pevzner

Темкин

2021

Min.Sci.Technol. (RUS)

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Underground mining operations are connected with significant risks of technogenic accidents, which can be catastrophic. Mitigating the consequences of such phenomena directly depends on the reliability and efficiency of information about the state of parameters of many technological processes, mine workings and facilities located in them. At failure of standard systems of industrial telemetry in conditions of underground mining the creation of new information channels and places of information measurementbecomes practically impossible in case of emergency situation development. This predetermines necessity of use of essentially new systems of gathering and transfer of the information, based on robotized autonomous complexes. The task of acquiring reliable information about the situation in an emergency mine working with the help of drones (unmanned aerial vehicles or UAV) in order to make rational decisions in the course of the rescue operation is quite relevant. The aim of the paper was to develop a system of automatic control of an unmanned aerial vehicle (UAV) movement in confined space of a mine working, with significant perturbations of the mine air flow. The mathematical model of UAV movement in mine conditions, based on Euler angles or quaternions, was substantiated. The method of positioning through triangulation with the use of radio beacons was accepted as the basic method that allowed to determine the current position of an UAV. It was proposed to solve the problem of creation of the automatic system for an unmanned aerial vehicle movement control with the use of a hierarchical multiloop control system. The route planning algorithm was formed on the basis of the Dijkstra algorithm. For this purpose, discretization of the future motion space was performed, a labeled connected graph was constructed, on which the arc weights were the distances between the route points. A simulation experiment was implemented. The average deviation from the planned trajectory when flying at a speed of 10 m/s with payload mass up to 0.6 kg did not exceed 1 m, and the maximum deviation was unacceptably large. When flying at 6 m/s with payload mass up to 0.6 kg the average deviation did not exceed 0.3 m, and the maximum deviation, 1.2 m. The results of simulation of movement along the route towards the disturbing mine airflow showed that the control system allowed the UAV with payload of 0.6 kg to withstand the oncoming flow up to 8 m/s. It was obtained that with payload mass of 0.6 kg, the braking distance does not exceed 6 m if the UAV had a speed of 6 m/s, and the braking distance does not exceed 12 m at the speed of 10 m/s. The performed simulation studies confirmed the operating capability of the developed system for automatic motion control.

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“…Quad-rotor UAV consists of four independent propellers attached at each corner of a cross frame. It is relied on the resultant forces and moments of four independent rotors that adjust the flight attitude and position [7]. Compared with the fixed wing aircraft, the quad-rotor UAVs that are equipped with vertical take-off have better landing capabilities even in the narrow space, because this vertical take-off has higher manoeuvrability and hovering capacities [8].…”

Section: Introductionmentioning

confidence: 99%

Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

Xue

Wang

et al. 2016

International Journal of Aerospace Engineering

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Unmanned Aerial Vehicle (UAV) is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM) is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

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Control of flight parameters of a quadrotor vehicle moving over a given trajectory

Cited by 9 publications

References 5 publications

Simulation of quadcopter flight altitude stabilization system

Simulation of quadcopter flight altitude stabilization system

Development of automatic system for Unmanned Aerial Vehicle (UAV) motion control for mine conditions

Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

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