Tilting-Rotor Quadcopter for Aggressive Flight Maneuvers Using Differential Flatness Based Flight Controller

Kumar, Rumit; Nemati, Alireza; Kumar, Manish; Sharma, Rajnikant; Cohen, Kelly; Cazaurang, Franck

doi:10.1115/dscc2017-5241

Cited by 35 publications

(33 citation statements)

References 9 publications

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“…Telemetry ground module and telemetry air module are connected by serial communication. [42], [43] that can be used to transfer linear speed and angular speed to the global frame are as follows…”

Section: ) Rc Transmitter/receiver and Telemetrymentioning

confidence: 99%

Tri-Copter UAV With Individually Tilted Main Wings for Flight Maneuvers

2020

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A tri-copter unmanned aerial vehicle (UAV) with individually tilted main wings for various flight maneuvers is presented. In contrast to conventional tilt wing UAVs, thrust vectoring and control of the directions of main wing surfaces are attained by tilting main wings individually. Such individually tilted main wings allow more efficient maneuvers of the UAV. Even though the UAV is a tri-copter, it can compensate the reaction torque created by the tail motor by the individual control of the main wings. Few publications have appeared in the literature, dealing with tri-copter UAV with individually tilted main wings. Dynamic model of the UAV is established via the Newton-Euler formulation and effect of individual wing control is examined. The PID controller and PI controller for control of flight maneuvers are implemented and used for simulations and experiments. Results of simulations and experiments are presented for validation of flight performance of the UAV, including the roll rate 80% larger than that of the conventional UAV with ailerons as control surfaces.

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Section: ) Rc Transmitter/receiver and Telemetrymentioning

confidence: 99%

Tri-Copter UAV With Individually Tilted Main Wings for Flight Maneuvers

2020

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“…1 [4]. The translational motion dynamics of the tilt-rotor quadcopter are described by equation ( 6)…”

Section: Dynamic Modelmentioning

confidence: 99%

“…This UAV can follow tight trajectories Fig. 1: Tilt-rotor quadcopter free body diagram [4] and provide better disturbance rejection towards uncertainties during flight [4] [5]. This paper focuses on position and attitude control design for the tilt-rotor UAV using quaternion state feedback and accurate control allocation for the over-actuated system.…”

Section: Introductionmentioning

confidence: 99%

“…This paper focuses on position and attitude control design for the tilt-rotor UAV using quaternion state feedback and accurate control allocation for the over-actuated system. Dynamic modeling and control design methods for the various flight modes of tilt-rotor quadcopter are discussed in [4], [6], [7], [8] and [9]. The work in [10] has shown that the tilt-rotor quadcopter can achieve large attitude angles.…”

Section: Introductionmentioning

confidence: 99%

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Quaternion Feedback Based Autonomous Control of a Quadcopter UAV with Thrust Vectoring Rotors

Kumar¹,

Bhargavapuri²,

Deshpande³

et al. 2020

Preprint

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In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in nature, the dynamics and control allocation have to be analysed carefully. Moreover, the possibility of hovering at large attitude maneuvers of this novel vehicle requires singularity-free attitude control. Hence, quaternion state feedback is utilized to compute the control commands for the UAV motors while avoiding the gimbal lock condition experienced by Euler angle based controllers. The quaternion implementation also reduces the overall complexity of state estimation due to absence of trigonometric parameters. The quadcopter dynamic model and state space is utilized to design the attitude controller and control allocation for the UAV. The control allocation, in particular, is derived by linearizing the system about hover condition. This mathematical method renders the control allocation more accurate than existing approaches. Lyapunov stability analysis of the attitude controller is shown to prove global stability. The quaternion feedback attitude controller is commanded by an outer position controller loop which generates rotortilt and desired quaternions commands for the system. The performance of the UAV is evaluated by numerical simulations for tracking attitude step commands and for following a waypoint navigation mission.

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“…The mathematical dynamic modeling of the tilt-rotor UAV are discussed in [17]. The PD based control methods and non-linear sliding mode controller design for the tilt-rotor UAV were studied in [18,19,20]. This system has also been described as capable of handling single motor failure during flight [19].…”

Section: Introductionmentioning

confidence: 99%

Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors

Deshpande

Kumar

Minai

et al. 2020

Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Mani

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In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and direction to achieve the desired state during flight. The control policy of this robot is learned using the policy transfer from the learned controller of the quadcopter (comparatively simple UAV design without thrust vectoring). This approach allows learning a control policy for systems with multiple inputs and multiple outputs. The performance of the learned policy is evaluated by physics-based simulations for the tasks of hovering and way-point navigation. The flight simulations utilize a flight controller based on reinforcement learning without any additional PID components. The results show faster learning with the presented approach as opposed to learning the control policy from scratch for this new UAV design created by modifications in a conventional quadcopter, i.e., the addition of more degrees of freedom (4-actuators in conventional quadcopter to 8-actuators in tilt-rotor quadcopter). We demonstrate the robustness of our learned policy by showing the recovery of the tilt-rotor platform in the simulation from various non-static initial conditions in order to reach a desired state. The developmental policy for the tilt-rotor UAV also showed superior fault tolerance when compared with the policy learned from the scratch. The results show the ability of the presented approach to bootstrap the learned behavior from a simpler system (lower-dimensional action-space) to a more complex robot (comparatively higher-dimensional action-space) and reach better performance faster.

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Tilting-Rotor Quadcopter for Aggressive Flight Maneuvers Using Differential Flatness Based Flight Controller

Cited by 35 publications

References 9 publications

Tri-Copter UAV With Individually Tilted Main Wings for Flight Maneuvers

Tri-Copter UAV With Individually Tilted Main Wings for Flight Maneuvers

Quaternion Feedback Based Autonomous Control of a Quadcopter UAV with Thrust Vectoring Rotors

Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors

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