Flight control of a rotary wing UAV using backstepping

Ahmed, Bilal; Pota, H. R.; Garratt, Matthew A.

doi:10.1002/rnc.1458

Cited by 95 publications

(52 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The flight control system was used to control the UH flight operations and for path planning [29] . The sowing decision system was used to control the extent of sowing.…”

Section: X-axismentioning

confidence: 99%

Design and test of centrifugal disc type sowing device for unmanned helicopter

Song

Zhou

Luo

et al. 2018

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

Abstract:In China, it is difficult for manned aircraft to sow seeds in small and scattered plots, especially in areas including hills, swamps, telegraph poles, windbreaks, and residential areas; in such terrain, the sowing machinery cannot function properly. However, unmanned helicopters (UHs) are flexible enough to control and adapt to the complex environments that are not easily accessible by terrain sowing machinery and large agricultural aircraft, which have been widely used in agriculture. In this study, a centrifugal disc-type sowing device for an unmanned helicopter (CDTSDUH) was designed. The factors influencing the seed velocity when the seeds move away from the disc were explored by analyzing the forces of the seed acting on the sowing disc and the wind field of the UHs. The influential factors include the distance from the falling mouth to the center of the disc, the offset angle of the falling mouth, and the rotation speed of the disc. An orthogonal test was designed with the sowing width and the curvature of the sowing area as the indexes. The test results showed that the three factors mentioned above had a greater impact on the sowing width than the curvature of the seeding area. Moreover, the superior parameters of the disc were determined. It was also suggested that the above factor levels had little effect on the offset width of sowing. The results of the test conducted for studying the sowing uniformity of the CDTSDUH indicated that the maximum and minimum difference values among the number of particles of the sampling points in the forward direction was 11 and 8, and the coefficient of variation of the number of particles in each row was more than 20%, indicating less uniformity was achieved when sowing in the lateral (perpendicular to the forward direction) direction, as compared to that in the forward direction. This study determined the ideal values for the radius of particles position, the offsetting angle, and the disc speed of the sowing machinery designed. Furthermore, considering that there are so many factors that influence the manner in which a UH functions, more analysis results and test data of influencing factors need to be acquired by experiments. The uniformity of sowing needs to be further improved. The results provided some theoretical and experimental references for the technology research on the centrifugal disc-type sowing device for UHs.

show abstract

“…The flight control system was used to control the UH flight operations and for path planning [29] . The sowing decision system was used to control the extent of sowing.…”

Section: X-axismentioning

confidence: 99%

Design and test of centrifugal disc type sowing device for unmanned helicopter

Song

Zhou

Luo

et al. 2018

International Journal of Agricultural and Biological Engineering

View full text Add to dashboard Cite

show abstract

“…The complete model of a quadrotor can be represented by four interconnected subsystems [21], as shown in Figure 2 and the reference systems and the propeller forces acting on it are shown in Figure 3. The actuator dynamics is responsible for transforming the servo inputs into rotor-speed.…”

Section: The Quadrotor Modelmentioning

confidence: 99%

Spectrogram Analysis: An Approach to Identify The Quadrotor Thrust Model

Brandão¹,

Pizetta²,

Pizziolo³

et al. 2018

Preprint

View full text Add to dashboard Cite

Abstract:This paper deals with a non-contact method to identify the aerodynamic propeller parameters of the Parrot AR.Drone quadrotor. The experimental set consists in a camera recording the vehicle flights, the audio signal is extracted and is used a spectrogram analysis to estimates the propeller velocity. First, the aerial vehicle takes off and starts a hovering maneuver. The experiment is repeated with different additional masses attached to its rigid body. If the weight over the UAV increases/decreases, then the propeller must rotates faster/slower to produce a higher/lower thrust, and consequently, the sound frequency increases/decreases. Finally, this proposition is validated experimentally, and the estimated velocity is used to identify the quadrotor thrust parameters.

show abstract

“…which can be found in many prior helicopter control designs [4,9,10]. It can be seen that the transient response has been ignored in this approximation.…”

Section: Disturbance Observer Designmentioning

confidence: 99%

“…Some early studies tend to ignore the flapping dynamics and assume these angles can be directly controlled [7,8], but a common practice is to use the quasisteady approximation by setting the derivatives of flapping angles to zero [4,9,10]. Nevertheless, completely neglecting the transient response may degrade the control performance especially when flapping dynamics are relatively slow with the increased flybar diameter and weight.…”

mentioning

confidence: 99%