Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Nekoo, Saeed Rafee; Acosta, José Ángel; Ollero, A.

doi:10.1007/978-3-030-36150-1_7

Cited by 4 publications

(8 citation statements)

References 18 publications

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“…The computation of input law ( 25) is based on a fully actuated system, which is not possible in reality. So, to transform the [𝐮 t (𝑡)] 3×1 to the scalar thrust input considering the gravity as well, we use cascade design [55]:…”

Section: Implementation Of the Sddre On Quaternion-based Dynamicsmentioning

confidence: 99%

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

2022

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The quaternion is a powerful and common tool to avoid singularity in rotational dynamics in three-dimensional (3D) space. Here it has been particularly used as an alternative to Euler angles and rotation matrix. The application of the quaternion is exercised in quadrotor modeling and control. It changes the dynamics and represents a singularity-free attitude model. Here for the first time (for the best knowledge of authors), the state-dependent differential Riccati equation (SDDRE) control has been implemented on the quaternion-based model of a quadcopter. The proposed control structure is capable of aerobatic flight, and the Pugachev’s Cobra maneuver is chosen to assess the capability of the quaternion-based SDDRE approach. The introduced control simulator is validated by comparison with conventional dynamics based on Euler angles, controlled using a proportional-derivative (PD) controller on a normal regulation flight. The simulator successfully performed the Cobra maneuver and also validated the proposed structure. The more precision in regulation along with lower energy consumption demonstrated the superiority of the introduced approach.

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Section: Implementation Of the Sddre On Quaternion-based Dynamicsmentioning

confidence: 99%

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

2022

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“…Considering the kinematic Equations ( 34)- (35) and the dynamics of the system Equations ( 36) and (37), the state-space equation is found: Unified SDC: The state-dependent coefficient parameterization is structured based on Equation (24) on the system (38). The SDC design for under-actuated quadrotors was designed in two separate translation and orientation parts [39]; however, for the fully-actuated system in this research, a unified SDC design is proposed:…”

Section: Discrete-time Control Hexacopter With Tilted Rotorsmentioning

confidence: 99%

“…In hovering condition, Equation (39), is almost an identity matrix W 1 (x) = I 6×6 satisfying the proposed SDC structure.…”

Section: Discrete-time Control Hexacopter With Tilted Rotorsmentioning

confidence: 99%

“…The total thrust on the body frame can be projected to the global frame providing three components, though the system is under‐actuated. Cascade design is a common way to solve the under‐actuation problem for multirotor UAVs [39]. The method benefits from a virtual constraint to define the desired orientation of the system for translation control.…”

Section: Simulationsmentioning

confidence: 99%

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Gravity compensation and optimal control of actuated multibody system dynamics

Nekoo

Acosta

Ollero

2021

IET Control Theory & Appl

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This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compensation term is missing in linear and nonlinear optimal control, in both continuous-and discrete-time domains. The equilibrium point of the control system is usually zero and this makes it impossible to perform regulation when the desired condition is not set at origin or in other cases, where the gravity vector is not zero at the equilibrium point. The system needs a steady-state input signal to compensate for the gravity in those conditions. The stability proof of the gravity compensated control law based on nonlinear optimal control and the corresponding deviation from optimality, with proof, are introduced in this work. The same concept exists in discrete-time control since it uses analog to digital conversion of the system and that includes the gravity vector of the system. The simulation results highlight two important cases, a robotic manipulator and a tilted-rotor hexacopter, as an application to the claimed theoretical statements.

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“…This model is valid under hovering conditions that require small changes in orientation dynamics [29][30][31].…”

Section: Quadrotor Dynamicsmentioning

confidence: 99%

Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach

Nekoo

Cuevas

Acosta

et al. 2021

2021 Aerial Robotic Systems Physically Interacting With the Environment (AIRPHARO)

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This paper presents an experimental study of the softlanding problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing complexity drastically increases when the drone needs to land on sensitive sites, such as platforms or rack of pipes in refineries (for inspection purposes), in which explosive material is running through or there exist flammable/explosive material in the environment. Multirotor unmanned aerial vehicles (UAVs) are usually lightweight platforms and they are significantly disturbed by the aerodynamic ground effect while landing; so, near the ground, those drones are subjected to an external disturbance in proximity to the ground. In this situation, the airflow can be reflected after reaching the ground, disturbing the performance of the rotors significantly. This paper aims to model the induced wind velocity, caused by the propellers to see and consider the ground effect during the landing. The reduction of the total thrust near the ground provides a smooth landing and avoids bumping. The complex wind modeling formulation and limitation of the commercialized autopilots make the implementation a challenging task. Herein we propose how to incorporate the proposed soft-landing algorithm within an existing UAV autopilot. Experimental results show that the proposed approach successfully replicates the wind modeling which leads to a soft-landing.

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Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Cited by 4 publications

References 18 publications

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Gravity compensation and optimal control of actuated multibody system dynamics

Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach

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