Design of a fully actuated passively tilted multirotor UAV with decoupling control system

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

doi:10.1109/icmae.2017.8038677

Cited by 11 publications

(9 citation statements)

References 9 publications

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“…Then, by properly designing the LPF (28), it holds that τ 𝑑 𝑏 → 𝝉 𝑑 𝑏 . Substituting the attitude control law ( 25) into (13), one can obtain the following closed-loop attitude dynamics:…”

Section: Attitude Control Designmentioning

confidence: 99%

“…The flight control module is designed using a proportional-derivative (PD) law combined with an arbitraryorder sliding mode disturbance observer (SMDO). Different from the papers 13,14,[16][17][18][19] , the proposed method provides a smooth control law that ensures robustness due to the presence of the SMDO. On the other hand, the guidance module uses an attitude reference filter to generate sufficiently smooth attitude commands.…”

Section: Introductionmentioning

confidence: 98%

“…In particular, the most usual approach for fully actuated MAVs is to separately design the position and attitude controllers due to their capacity to independently control its six DOF using six independent control efforts, i.e., three force components and three torque components. In particular, sliding mode control 10,11 (SMC) and feedback linearization have been recently proposed [12][13][14][15] to design the flight control of fully actuated MAVs equipped with fixed rotors. Rajappa et al 15 designed a feedback-linearization control law containing an integral action to ensure robust tracking performance with respect to constant disturbances.…”

Section: Introductionmentioning

confidence: 99%

“…Rajappa et al 15 designed a feedback-linearization control law containing an integral action to ensure robust tracking performance with respect to constant disturbances. To reject a more general class of disturbances, Kotarski et al 13 have adopted a first-order SMC and Yao et al 14 have presented an integral SMC, but, to get rid of the high-frequency control, the sign function is approximated by an arctangent with a consequent degradation of robustness. It is worth mentioning that many papers focusing on underactuated MAVs have also presented first-order SMC with smooth approximations of the sign function [16][17][18][19] .…”

Section: Introductionmentioning

confidence: 99%

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Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Ricardo

Santos

2023

Preprint

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This paper is concerned with the robust guidance and control of fully actuated multirotor aerial vehicles in the presence of moving obstacles, linear velocity constraints, and matched model uncertainties and disturbances. We address this problem by adopting a standard hierarchical flight control architecture consisting of a supervisory outer-loop guidance module and an inner-loop stabilizing control one. The position and attitude control laws are designed using a proportional-derivative approach combined with a sliding mode disturbance observer. On the other hand, to design the guidance, we propose a robust version of the continuous-control-obstacles method, which derives from the velocity obstacles one, to drive the vehicle to a target pose while avoiding collision with moving obstacles and violation of linear velocity constraints. The overall method have been numerically evaluated and shown to be effective in providing satisfactory tracking performance, collision-free guidance, and satisfaction of linear velocity constraints.

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Section: Attitude Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Ricardo

Santos

2023

Preprint

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“…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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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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Experimental Investigation of the Effect of Mass Load on Flight Performance of an Octorotor and Dodecarotor UAV

Yıldırım

Çabuk

Bakırcıoğlu

2021

Lecture Notes in Mechanical Engineering

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Design of a fully actuated passively tilted multirotor UAV with decoupling control system

Cited by 11 publications

References 9 publications

Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

Robust Guidance and Control with Collision Avoidance for Fully Actuated Multirotor Aerial Vehicles

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

Experimental Investigation of the Effect of Mass Load on Flight Performance of an Octorotor and Dodecarotor UAV

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