Mathematical Modeling and Nonlinear Control of VTOL Aerial Vehicles

Nonami, Kenzo; Kendoul, Farid; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

doi:10.1007/978-4-431-53856-1_8

Cited by 26 publications

(24 citation statements)

References 17 publications

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“…Remark A classical hierarchical controller is designed in previous study for a similar plant, where the errors introduced by the inner loop controller is investigated. It is noted that regardless of the controller type, the same error terms will appear as disturbances in the outer loop controller.…”

Section: Controller Designmentioning

confidence: 99%

“…It is noted that regardless of the controller type, the same error terms will appear as disturbances in the outer loop controller. A proof of Lemma is given in another study, and thus, the proof is omitted here.…”

Section: Controller Designmentioning

confidence: 99%

“…It is known that the problem of nonlinear controllers, in general, is computational complexity . The focus of this paper is the design of a high‐performance, practical controller that is easy to implement with low computational cost but at the same time theoretically sound that does not need any linearization approximation of the plant dynamics and that has a rigorous overall stability proof.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear hierarchical control of a quad tilt‐wing UAV: An adaptive control approach

Yıldız

Ünel

Demirel

2017

Adaptive Control & Signal

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In this paper, a nonlinear hierarchical adaptive control framework is proposed for the control of a quad tilt-wing unmanned aerial vehicle (UAV). An outer loop model reference adaptive controller with robustifying terms creates required forces to be able to move the UAV on a reference trajectory, and an inner loop nonlinear adaptive controller realizes the required attitude angles to achieve these forces. A rigorous stability analysis is provided showing the boundedness of all the signals in this cascaded controller structure. The development and the stability analysis of the controller do not use any linearizations and use the full nonlinear UAV dynamics. The controller is implemented on a high-fidelity nonlinear tilt-wing quadrotor model in the presence of uncertainties, wind disturbances, and measurement noise as well as actuator and structural failures. In this work, in addition to earlier modeling studies, the effect of wing-angle variations, actuator failures, and structural failures and their effect on the center of gravity of the UAV are rigorously and systematically investigated and reflected in the model. Simulation results showing the performance of the proposed controller and a comparison with the fixed controller used in earlier studies are presented in the paper.

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Section: Controller Designmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Nonlinear hierarchical control of a quad tilt‐wing UAV: An adaptive control approach

Yıldız

Ünel

Demirel

2017

Adaptive Control & Signal

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“…16 This group developed an advanced powerful avionic system based on the gumstix processor and cross bow inertia measurement unit (IMU). A nonlinear hierarchical flight controller and a complete stability analysis is presented in this work.…”

Section: Ia Related Work On Quadrotorsmentioning

confidence: 99%

“…In fact, since chirp signal contains a variety of frequency components, it is an appropriate input signal for model identification or validation purposes. A typical linear chirp signal is mathematically expressed as (16). 33 where A chirp is amplitude, f 0 initial frequency, and k chirp is the rate of frequency increase.…”

Section: Vb2 Input Signalmentioning

confidence: 99%

Development of a Cross Style Quadrotor

Azimi

Zong

Lin

et al. 2012

AIAA Guidance, Navigation, and Control Conference

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This paper presents development of a quadrotor UAV (Unmanned Aerial Vehicle) in a new configuration. In this work, a small-scale cross style quadrotor is introduced and its advantages as compared to the standard plus style, are highlighted. In fact, the cross style quadrotor inherently is capable of providing higher maneuverability by taking the advantage of using all the rotors for displacement in any direction. The quadrotor UAV development is presented in a few main steps: development of platform body, hardware and software design, and dynamic model derivation and identification. The platform body is built up based on a commercially available quadrotor frame. The vehicular avionics board is built up based on the NUS UAV group designed hardware system which in a compact and cheap design, it can provide and record all the navigation data, communicate with the ground station, and drive the motors. In the model identification part, the mathematical dynamic model of a cross style quadrotor is derived and unknown parameters are determined. Following that, static and dynamic identification experiments are conducted to numerically estimate the model parameters. A model validation experiment is then designed to illustrate the fidelity of the identified model.

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