Modeling and control of a quadrotor with variable geometry arms

Barbaraci, Gabriele

doi:10.1139/juvs-2014-0012

Cited by 24 publications

(8 citation statements)

References 7 publications

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“…Some authors have developed a dynamic model for a quadrotor with two independent arms (25,35) . To simplify the dynamic model, others considered that the CoG of the transformable drone coincides with the geometric centre (15,26,43) or that its structure is symmetrical (13,28,29,62) .…”

Section: Generic Modelingmentioning

confidence: 99%

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Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021

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Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.

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Section: Generic Modelingmentioning

confidence: 99%

“…In Ref. (62) , the authors discussed the use of Linear Quadratic Regulation (LQR) for a quadrotor with variable geometry arms, where the angles between the arms change but the structure always remains symmetrical. The same controller is adopted in Refs (13,26) to stabilize a morphing quadrotor with rotating and extendable arms.…”

Section: Control Reviewmentioning

confidence: 99%

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021

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“…The modeling and derivation of the equations of motion of a quadcopter are extensively addressed in published scientific literature, and can be found in the following references [34][35][36][37][38][39][40][41][42]. In the context of this experiment, the most critical aspect of the modeling of the quadcopter dynamics is in the derivation of the moment of inertia matrices for the nominal and morphed geometry configurations; in normal configuration, the quadcopter has a symmetric structure and so, the products of inertia are zero.…”

Section: Modeling Of Quadcopter Moments Of Inertiamentioning

confidence: 99%

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Bai

Gururajan

2019

Drones

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This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault Tolerance (AirCRAFT) Lab, Parks College of Engineering, Aviation and Technology at Saint Louis University, St. Louis, MO. The flight test matrix included flights in a "Figure-8" trajectory in two different morphing configurations (21 • and 27 • ), as well as the nominal geometry configuration, two different flight velocities (1.5 m/s and 2.5 m/s), two different number of waypoints, and in three planes-horizontal, inclined, and double inclined.All the experiments were conducted using standard, off-the-shelf flight controller (Pixhawk) and autopilot firmware. Simulations of the morphed geometry indicate a reduction in pitch damping (42% for 21 • morphing and 57.3% for 27 • morphing) and roll damping (63.5% for 21 • morphing and 65% for 27 • morphing). Flight tests also demonstrated that the dynamic stability in roll and pitch dynamics were reduced, but the quadcopter was still stable under morphed geometry conditions. Morphed geometry also has an effect on the flight performance-with a higher number of waypoints (30) and higher velocity (2.5 m/s), the roll dynamics performed better as compared to the lower waypoints and lower velocity condition. The yaw dynamics remained consistent through all the flight conditions, and were not significantly affected by asymmetrical morphing of the quadcopter geometry. We also determined that higher waypoint and flight velocity conditions led to a small performance improvement in tracking the desired trajectory as well.

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“… 13 Simulated robotic platforms with morphing abilities have been endowed by Ref. 14 with full attitude control and by Ref. 15 with an interesting tilting rotor mechanism.…”

Section: Objectivementioning

confidence: 99%

Agile Robotic Fliers: A Morphing-Based Approach

Riviere

Manecy²,

Viollet

2018

Soft Robotics

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The aerial robot presented here for the first time was based on a quadrotor structure, which is capable of unique morphing performances based on an actuated elastic mechanism. Like birds, which are able to negotiate narrow apertures despite their relatively large wingspan, our Quad-Morphing robot was able to pass through a narrow gap at a high forward speed of 2.5 m.s− 1 by swiftly folding up the structure supporting its propellers. A control strategy was developed to deal with the loss of controllability on the roll axis resulting from the folding process, while keeping the robot stable until it has crossed the gap. In addition, a complete recovery procedure was also implemented to stabilize the robot after the unfolding process. A new metric was also used to quantify the gain in terms of the gap-crossing ability in comparison with that observed with classical quadrotors with rigid bodies. The performances of these morphing robots are presented, and experiments performed with a real flying robot passing through a small aperture by reducing its wingspan by 48% are described and discussed.

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Modeling and control of a quadrotor with variable geometry arms

Cited by 24 publications

References 7 publications

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Agile Robotic Fliers: A Morphing-Based Approach

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