Nonlinear Modeling the Quadcopter Considering the Aerodynamic Interaction

Ye, Jianchuan; Wang, Jiang; Song, Tao; Wu, Zeliang; Tang, Pan

doi:10.1109/access.2021.3116676

Cited by 3 publications

(2 citation statements)

References 27 publications

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“…The direction of the drag is opposite to the direction of the movement, D x , D y , and D z are the aerodynamic resistances or drags in x, y, and z direction. [22,23] In Equation (13), ρ is the air density; C Dx , C Dy and C Dz are the drag coefficients, which are dimensionless numbers, depending on the angle of attack (AOA). C Lx , C Ly are dimensionless lift coefficients dependent on the AOA; A is the area of the drone in contact with the air when flying vertically upwards.…”

Section: Dynamical Modelmentioning

confidence: 99%

Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments

et al. 2022

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Hexacopters are a kind of unmanned aerial vehicle (UAV) with six actuators and six degrees-of-freedom motions. The control of a hexacopter drone is a critical challenge. This paper presents a nonlinear dynamical model for a hexacopter and complete control approaches based on sliding mode control theory. Furthermore, this study proposed an effective control tuning method based on an optimisation algorithm. The controller has been improved by the grey wolf optimisation (GWO) algorithm, an iteration algorithm inspired by the social hierarchy and hunting behaviour of grey wolves. The improvement of the controller has been verified both experimentally and in simulations. The performance of the sub-controller for an attitude angle was tested in a test bench, and the whole flight controller was tested in simulation hexacopters, which are highly manoeuvrable, nonlinear aerial vehicles with six independent rotors and capacity for vertical take-off and landing. This article presents a derivation of the nonlinear dynamical model for a hexacopter, which includes the aerodynamic drag, and inertia counter torques. Flight control based on sliding mode control theory, which generally shows good performance on nonlinear systems, is developed and implemented. Given the need to simultaneously tune controller parameters, two nature inspired optimisation routines (GWO and PSO) are applied and compared for effectiveness in controller tuning. Results indicate that GWO-based tuning produces superior outcomes in terms of controller performance. This is in addition to the fact that PSO parameters require tuning rather than random selection of algorithm parameters. A reduced-order physical prototype is presented for the validation of the tuning routine on the roll/pitch control. The results indicate good agreement between simulation and experimental outcomes, with about 10.4% improvement in the tracking performance of roll DOF when GWO is applied to tune the controller.

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Section: Dynamical Modelmentioning

confidence: 99%

Optimised Sliding Mode Control of a Hexacopter: Simulation and Experiments

et al. 2022

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“…In [9], to reduce the effect of load uncertainties, an observer-based attitude stabilization mechanism is proposed. In [10], an aerodynamic model is proposed to simulate the model of the external disturbance of the quadcopter. In [11], with parametric uncertainties and external disturbances, an adaptive fast finite-time control is adapted for a tilting quadcopter.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Stiffness Enhancement of the Quadcopter Control System

Yao¹,

Lin²

2022

Electronics

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Vibrations often result in fatigue breakage in quadcopter flight operations. Reducing the vibration effect is the main important issue for quadcopter flight. Enhanced dynamic stiffness is required in the quadcopter control system for the vibration rejection ability. In this paper, the dynamic stiffness of the quadcopter control system is constructed and is used as an index for the performance of the quadcopter control system to resist an external oscillatory load. To rapidly reduce the vibration effect, a repetitive controller is introduced in the quadcopter control system, where the direct dynamic stiffness and the quadrature dynamic stiffness with variable frequencies are proposed. A theoretical model of the dynamic stiffness of the quadcopter control system is established by analyzing the definition of dynamic stiffness. Simulated and experimental results show that the magnitudes of the direct dynamic stiffness with the proposed repetitive controller are larger than those without the repetitive controller. The quadrature dynamic stiffness with the proposed repetitive controller is relatively smooth compared to that without the proposed repetitive controller, which can be used to verify the stability being improved by the designed repetitive controller. In addition, the magnitudes of the loss factor of the quadcopter control system with the repetitive controller are lower than those without the repetitive controller.

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