Modelling and hovering control of a novel multi-tandem ducted fan vehicle

International Journal of Advanced Robotic Systems

et al. 2020

Self Cite

Modeling and control for a novel coaxial ducted fan aerial robot in-ground-effect is presented in this article. Based on experiments using the ducted fan bench test, the fitting curve of the ground effect thrust of the ducted fan aerial robot at different heights is obtained. In addition, the flow field simulation results of the prototype with ground effect at different heights can be obtained using computational fluid dynamics software. A simplified model of the prototype for control can be designed based on several reasonable hypotheses that are established using blade element and momentum theory. To compensate for the disturbance associated with ground effect, a nonlinear disturbance observer is designed to estimate the disturbance, and control structure of the closed-loop system is composed of a nonlinear disturbance observer combined with a double-loop proportion–integration–differentiation controller. The results of several numerical simulations and experiments demonstrate the effectiveness of this controller structure. The performances of tracking trajectory and system stability are improved significantly, compared to the situation that the ground effect is not compensated for.

Section: Aerodynamic Influence Of Ground Effect On the Prototypementioning

confidence: 99%

Aerodynamic analysis and control for a novel coaxial ducted fan aerial robot in ground effect

International Journal of Advanced Robotic Systems

et al. 2020

Self Cite

“…In previous research, we have done a series of relevant studies on the prototype [ 31 , 32 , 33 , 34 , 35 ]. Through the continuous optimization of the prototype structure and design, the latest prototype with the manipulation is shown in Figure 2 .…”

Section: The Aerodynamic Influence Of Corner Effect On the Prototymentioning

confidence: 99%

Modeling of a Novel Coaxial Ducted Fan Aerial Robot Combined with Corner Environment by Using Artificial Neural Network

et al. 2020

Sensors

Self Cite

A novel coaxial ducted fan aerial robot with a manipulator is proposed which can achieve some hover operation tasks in a corner environment, such as switching on and off a wall-attached button on the corner. In order to study the aerodynamic interference between the prototype and the environment when the aerial robot is hovering in the corner environment, a method for the comprehensive modeling of the prototype and corner environment based on the artificial neural network is presented. By using the CFD simulation software, the flow field of the prototype at different positions with the corner effect is analyzed. After determining the input, output and structure of the neural network model, the Adam and gradient descent algorithms are selected as the neural network training algorithms, respectively. In addition, to optimize the initial weights and biases of the neural network model, the genetic algorithm is precisely used. The three-dimensional prediction surfaces generated by the three methods of the neural network, kriging surface and the polynomial fitting are compared. The results show that the neural network has high prediction accuracy, and can be applied to the comprehensive modeling of the prototype and the corner environment.

“…It is capable of high-speed flight in addition to the hover and vertical take-off and landing capabilities. Compared with traditional helicopter, the ducted coaxial-rotor UAV will produce greater tension than isolated propeller with the same diameter, which makes the fuselage structure more compact [5]- [8]. The configuration layout of the ducted coaxial-rotor UAV developed by our laboratory is depicted in Fig.1.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV

Jia

2019

IEEE Access

This paper addresses the aerodynamic modeling, observer-based state-feedback robust control and sensor fault detection for a laboratory ducted coaxial-rotor UAV (DCUAV). First, by introducing the main model elements of this novel unmanned vehicle, the detailed nonlinear mathematical model of the hovering flight UAV is presented. Second, through introducing a weighting matrix and a new form of changeof-variables, a new method is proposed by designing two different systems simultaneously as detector and controller. An observer-based controller is proposed to achieve the control objective and finite-frequency sensor fault detection objective simultaneously. The observer-based controller design method is derived from a new formulation of linear matrix inequality (LMI), which can achieve the prescribed H ∞ performance, H − performance and the stability of the closed-loop system. By constructing a new matrix decomposition form, the simultaneous design of detector parameters and controller parameters is solved. Finally, simulations are conducted for the hover flight with disturbances and sensor faults, the results show the satisfactory control performance and fault detection performance.