Designing 3-DOF Hardware-In-The-Loop Test Platform Controlling Multirotor Vehicles

Hancer, Muhsin; Bitirgen, Rahman; Bayezit, İsmail

doi:10.1016/j.ifacol.2018.06.058

Cited by 18 publications

(10 citation statements)

References 2 publications

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“…We obtain the parameters of the IRIS+ quadrotor model as shown in Figure 1 and described in refs. 35 and 43 in order to test the proposed controllers with the adaptive two-stage Kalman filter algorithm. Additionally, ATSKF algorithm effectiveness is considered and given with the simulation results within this section.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…10 In this paper, the gyroscopic testbed mechanism developed in ITU Model-Based Design and Control lab is used in order to obtain model parameters of IRIS + quadrotor system as shown in Figure 1 and as described in ref. 35 in detail. It is well known that the rotational subsystem of quadrotor dynamics is faster and more aggressive than the translational motion subsystem.…”

Section: Quadrotor Kinematics and Dynamicsmentioning

confidence: 98%

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Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Artuc,

Bayezit

2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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The combination of nonlinear indirect and direct adaptive control with an active fault-tolerant framework is proposed in this paper for quadrotor position tracking control under uncertain and fault conditions. An inner loop direct model reference adaptive controller generates the required force while moving along the reference trajectory, while nonlinear indirect adaptive controller maintains the required attitude angles. Furthermore, for uncertain conditions, our proposed framework provides significantly stable characteristics. Otherwise, when a fault occurs at actuators or sensors, the quadrotor vehicle cannot guarantee global asymptotic stability. This study contributes to an active fault-tolerant control strategy for solving the complex position tracking problem using the adaptive two-stage Kalman filter (ATSKF). Based on the fault information, a fault compensation term is added to the control law to improve convergence and system robustness in the presence of uncertain and fault conditions. Finally, simulation results show satisfactory performance for quadrotor vehicle position tracking, even with actuator faults and uncertainties.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Quadrotor Kinematics and Dynamicsmentioning

confidence: 98%

Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Artuc,

Bayezit

2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Most HIL systems are developed for simulating the quadrotor only [11][12][13][14]. Recently, SIL simulations with Gazebo and PX4 were conducted by Graham [6] for a quadrotor with a suspended load.…”

Section: Introductionmentioning

confidence: 99%

Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Omar

2022

Applied Sciences

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Quadrotor flying vehicles with suspended loads have a lot of applications, such as mine detection and transferring loads for delivery, or through places where ground vehicles cannot reach. In these applications, the payload will be suspended underneath the vehicle and it is subjected to large oscillations due to external disturbances or the acceleration of the vehicle itself. These oscillations add additional forces and moments to the quadrotor, and this deteriorates its performance and stability. In this paper, we developed a hardware-in-the-loop (HIL) simulation platform for a quadrotor with a suspended load system using Gazebo. The developed platform can be used to understand the dynamics of the system and design control systems to suppress the oscillation of the suspended load. An anti-swing controller that is based on time-delayed feedback of the load swing angles is implemented in the designed HIL environment to show the usefulness of the newly developed system and the effectiveness of the anti-swing controller.

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“…Proportional Integral and Derivative (PID) controllers are fundamental to many systems and are used in most industrial control operations, including aerial vehicles [15]. They are used for trajectory tracking system [16,17], stability in indoor/outdoor flights [18], attitude control system [19], and for stabilization [20][21][22][23]. Most of researches focused on UAV attitude control problems.…”

Section: Introductionmentioning

confidence: 99%

Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation

Saif

Eminoğlu

2022

The Journal of Engineering

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The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter-UAV in academic and research institutions. This methodology includes simulation, modelling, attitude control, Hardware in-the Loop (HIL) testing methodology, performance evaluation, and an experimental testing platform. Coordinate systems, kinematics, and dynamics systems are derived in great detail. Then, a real-time test platform is designed to verify system stability in a safe environment. (HIL) simulation was performed by the Pixhawk flight controller board interfaced with the Mission Planner platform. The numerical results include the control parameters of the quadcopter position (phi, theta, psi), and the translation values. The simulation results showed high and reliable performance both at the desired roll, pitch, and yaw angles as well as at the quadcopter position in the coordinate axes. Furthermore, the results of the real-time experiments (indoor/outdoor flight tests) have successfully demonstrated good stability and high response. Based on the methodology used in this research, the cost and risk of real-time flight experiments for UAVs have been reduced.

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Designing 3-DOF Hardware-In-The-Loop Test Platform Controlling Multirotor Vehicles

Cited by 18 publications

References 2 publications

Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation

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