583 research outputs found
Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction
In this work we present the optimization-based design and control of a
fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are
designed by maximizing the control wrench applied by the propellers. This
maximizes (a) the agility of the UAV, (b) the maximum payload the UAV can hover
with at any orientation, and (c) the interaction wrench that the UAV can apply
to the environment in physical contact. It is shown that only axial tilting of
the propellers with respect to the UAV's body yields optimal results. Unlike
the conventional hexarotor, the proposed hexarotor can generate at least 1.9
times the maximum thrust of one rotor in any direction, in addition to the
higher control torque around the vehicle's upward axis. A geometric controller
on SE(3) is proposed for the trajectory tracking problem for the class of fully
actuated UAVs. The proposed controller avoids singularities and complexities
that arise when using local parametrizations, in addition to being invariant to
a change of inertial coordinate frame. The performance of the controller is
validated in simulation.Comment: 9 pages, 9 figures, ICRA201
Geometric Controls for a Tethered Quadrotor UAV
This paper deals with the dynamics and controls of a quadrotor unmanned
aerial vehicle that is connected to a fixed point on the ground via a tether.
Tethered quadrotors have been envisaged for long-term aerial surveillance with
high-speed communications. This paper presents an intrinsic form of the dynamic
model of a tethered quadrotor including the coupling between deformations of
the tether and the motion of the quadrotor, and it constructs geometric control
systems to asymptotically stabilize the coupled dynamics of the quadrotor and
the tether. The proposed global formulation of dynamics and control also avoids
complexities and singularities associated with local coordinates. These are
illustrated by numerical examples
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
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