Modeling and attitude control analysis of a ducted-fan micro aerial vehicle

Pflimlin, Jean Michel; Binetti, P.; Souères, Philippe; Hamel, Tarek; Trouchet, D.

doi:10.1016/j.conengprac.2009.09.009

Cited by 75 publications

(46 citation statements)

References 9 publications

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“…a body-fixed frame. This feature can be used either for attitude (i.e., orientation) control, when the thrust rotation center is located at some distance of the vehicle's center of mass (CoM) and thrust vectoring yields torque creation, as in the case of rocket nozzle tilting or ducted-fan airflow derivation via the use of rotating surfaces (Naldi et al [2008], Pflimlin et al [2010]), or for attitude/position control decoupling, when the thrust rotation center is near the CoM and complementary actuation for attitude control is available, as in the case of V/STOL aircraft whose fuselage orientation is controlled independently of the vehicle's longitudinal motion (Notarstefano and Hauser [2010], Russo et al [2011]). As a matter of fact, thrust vectoring can also be used to achieve a combination of the aforementioned objectives.…”

Section: Introductionmentioning

confidence: 99%

“…Mechanical design and feedback control of small aerial vehicles possessing thrust vectoring capabilities have received an increasing interest in recent years and given rise to various declinations (Cetinsoy et al [2012], Kendoul et al [2005], Naldi et al [2008], Notarstefano and Hauser [2010], Papachristos et al [2011], Pflimlin et al [2010], Russo et al [2011], Ryll et al [2012]). For instance, the concept of twin tilt-rotors (Kendoul et al [2005], Papachristos et al [2011]) is well exemplified by the Bell Eagle Eye and the Bell Boeing V-22 Osprey.…”

Section: Introductionmentioning

confidence: 99%

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Control of VTOL vehicles with thrust-tilting augmentation

et al. 2015

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An approach to the control of a VTOL vehicle equipped with complementary thrusttilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the control problem are epitomized by the existence of a maximum tilting angle which forbids complete and decoupled control of the vehicle's position and attitude in all situations. This problem is here addressed via the formalism of primary and secondary objectives and by extending a solution previously derived in the fixed thrust-direction case. The proposed control design is also illustrated by simulation results involving a quadrotor UAV with all propellers axes pointing in the same monitored tilted direction.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Control of VTOL vehicles with thrust-tilting augmentation

et al. 2015

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“…F p ) expressed in the inertial and body-fixed frame, respectively. Using c L and c D given by (11), with λ as (15), one has…”

Section: A Controlmentioning

confidence: 99%

“…For the sake of completeness, the model (1a) should be completed by a modeling of the so-called body forces -a coupling term between the torque control input and the external forces on the bodythat may induce unstable zero dynamics [15] [16]. However, in the case of VTOLs, several studies show that the effects of these forces can be mitigated by stabilizing a specific control point other than the vehicle's center of mass [17] [18].…”

Section: B System Modelingmentioning

confidence: 99%

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Nonlinear control of aerial vehicles subjected to aerodynamic forces

Pucci

Hamel

Morin

et al. 2013

52nd IEEE Conference on Decision and Control

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Abstract-The paper contributes towards the development of a unified control approach for longitudinal aircraft dynamics. It states conditions that allow to adapt the control strategies developed for orientation-independent external forces to the orientation-dependent case. The control strategy presented here is a step to the automatic monitoring of the flight transitions between hovering and cruising for convertible aerial vehicles.

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Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

Chen

Wang

et al. 2016

Asian Journal of Control

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This work addresses the aerodynamic modeling and near-hover-flight control design for an unconventional aerial robot of the tandem ducted fan configuration, which is intended to be prototypical of a flight service vehicle. The main model elements of this novel unmanned vehicle, which exhibit highly nonlinear and unstable open-loop modes, are presented. A frequencydomain controllability analysis concerning the plant's behavior around the hovering flight condition is then adopted to determine the expected control performance, which is of important practical significance to controllability improvement through vehicle design changes. A robust controller that stabilizes the unmanned vehicle under wind disturbances is designed using a newly developed nonsmooth optimization algorithm, which rigorously and efficiently tunes the arbitrarily predefined structured controller against multiple control requirements. A successive two-loop architecture is employed in the designed controller. In this architecture, the inner loop provides stability augmentation and decoupling, and the outer loop guarantees the desired velocity tracking performance. Simulation results under stochastic wind gusts are presented to verify the performance of the proposed controllers. Preliminary flight tests are also carried out to demonstrate the performance of the system.

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Modeling and attitude control analysis of a ducted-fan micro aerial vehicle

Cited by 75 publications

References 9 publications

Control of VTOL vehicles with thrust-tilting augmentation

Control of VTOL vehicles with thrust-tilting augmentation

Nonlinear control of aerial vehicles subjected to aerodynamic forces

Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

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