483 research outputs found
Advanced Feedback Linearization Control for Tiltrotor UAVs: Gait Plan, Controller Design, and Stability Analysis
Three challenges, however, can hinder the application of Feedback
Linearization: over-intensive control signals, singular decoupling matrix, and
saturation. Activating any of these three issues can challenge the stability
proof. To solve these three challenges, first, this research proposed the drone
gait plan. The gait plan was initially used to figure out the control problems
in quadruped (four-legged) robots; applying this approach, accompanied by
Feedback Linearization, the quality of the control signals was enhanced. Then,
we proposed the concept of unacceptable attitude curves, which are not allowed
for the tiltrotor to travel to. The Two Color Map Theorem was subsequently
established to enlarge the supported attitude for the tiltrotor. These theories
were employed in the tiltrotor tracking problem with different references.
Notable improvements in the control signals were witnessed in the tiltrotor
simulator. Finally, we explored the control theory, the stability proof of the
novel mobile robot (tilt vehicle) stabilized by Feedback Linearization with
saturation. Instead of adopting the tiltrotor model, which is over-complicated,
we designed a conceptual mobile robot (tilt-car) to analyze the stability
proof. The stability proof (stable in the sense of Lyapunov) was found for a
mobile robot (tilt vehicle) controlled by Feedback Linearization with
saturation for the first time. The success tracking result with the promising
control signals in the tiltrotor simulator demonstrates the advances of our
control method. Also, the Lyapunov candidate and the tracking result in the
mobile robot (tilt-car) simulator confirm our deductions of the stability
proof. These results reveal that these three challenges in Feedback
Linearization are solved, to some extents.Comment: Doctoral Thesis at The University of Toky
Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
Omnidirectional MAVs are a growing field, with demonstrated advantages for
aerial interaction and uninhibited observation. While systems with complete
pose omnidirectionality and high hover efficiency have been developed
independently, a robust system that combines the two has not been demonstrated
to date. This paper presents VoliroX: a novel omnidirectional vehicle that can
exert a wrench in any orientation while maintaining efficient flight
configurations. The system design is presented, and a 6 DOF geometric control
that is robust to singularities. Flight experiments further demonstrate and
verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio
Survey on Aerial Multirotor Design: a Taxonomy Based on Input Allocation
This paper reviews the impact of multirotor aerial vehicles designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their design, which we apply exhaustively on the vast literature available. Thanks to the systematic characterization of the designs we exhibit groups of designs having the same abilities in terms of achievable tasks and system properties. In particular, we organize the literature review based on the number of atomic actuation units and we discuss global properties arising from their choice and spatial distribution in the designs. Finally, we provide a discussion on the common traits of the designs found in the literature and the main future open problems
The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education
In this paper, we introduce the Phoenix drone: the first completely
open-source tail-sitter micro aerial vehicle (MAV) platform. The vehicle has a
highly versatile, dual-rotor design and is engineered to be low-cost and easily
extensible/modifiable. Our open-source release includes all of the design
documents, software resources, and simulation tools needed to build and fly a
high-performance tail-sitter for research and educational purposes. The drone
has been developed for precision flight with a high degree of control
authority. Our design methodology included extensive testing and
characterization of the aerodynamic properties of the vehicle. The platform
incorporates many off-the-shelf components and 3D-printed parts, in order to
keep the cost down. Nonetheless, the paper includes results from flight trials
which demonstrate that the vehicle is capable of very stable hovering and
accurate trajectory tracking. Our hope is that the open-source Phoenix
reference design will be useful to both researchers and educators. In
particular, the details in this paper and the available open-source materials
should enable learners to gain an understanding of aerodynamics, flight
control, state estimation, software design, and simulation, while experimenting
with a unique aerial robot.Comment: In Proceedings of the IEEE International Conference on Robotics and
Automation (ICRA'19), Montreal, Canada, May 20-24, 201
Adaptive nonlinear hierarchical control of a quad tilt-wing UAV
Position control of a quad tilt-wing UAV via a nonlinear hierarchical adaptive control approach is presented. The hierarchy consists of two levels. In the upper level, a model reference adaptive controller creates virtual control commands so as to make the UAV follow a given desired trajectory. The virtual control inputs are then converted to desired attitude angle references which are fed to the lower level attitude controller. Lower level controller is a nonlinear adaptive controller. The overall controller is developed for the full nonlinear dynamics of the tilt-wing UAV and thus no linearization is required. In addition, since the approach is adaptive, uncertainties in the UAV dynamics can be handled. Performance of the controller is presented via simulation results
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