Nonlinear control of VTOL UAVs incorporating flapping dynamics

By Sammy Omari, Minh-Duc Hua, G. Ducard, Tarek Hamel. 2013

72 citations recorded by the source corpus.

This paper presents the design and evaluation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is presented. Based on this model, a hierarchical nonlinear controller is designed to actively compensates for the nonlinear effects these drag forces. Reported simulation and experimental results indicate the significant performance improvement of the proposed drag-augmented control scheme with respect to a conventional nonlinear controller. For completeness, an offline procedure allowing for efficiently identifying the drag parameters is proposed.

Subfields: Aerospace Engineering, Control and Systems Engineering, Ocean Engineering

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Citations in the corpus

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories (2017, methodology): “As in our work, [10] models the rotor drag to be proportional to the square root of the thrust, which is proportional to the rotor speed, but then assumes the thrust to be constant for the computation of the rotor drag, whereas [11] models the rotor drag to be proportional to the thrust.”
Thrust Control for Multirotor Aerial Vehicles (2017, methodology): “Possible approaches include using strain gauges, or directly measuring the airspeed using pitot tubes [3], [31] or estimation of the aerodynamic state using inertial measurement units (IMUs) [2], [24].”
Nonlinear feedback control of Quadrotors exploiting First-Order Drag Effects (2017, unknown): “The parameters of the system used for simulation are those identiﬁed by previous experiments (see for example Omari et al. (2013)) except for B which is believed to be negligible but here chosen comparable to A in order to analyze its eﬀect: m = 1 .”
Robust state estimation for Micro Aerial Vehicles based on system dynamics (2015, background): “[10] and the drag force has been incorporated into a trajectory controller.”