This paper introduces an analytical framework for the derivation of distributed-parameter equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, to facilitate the controller design. A delay-resistant low-frequency adaptive controller is employed, which prevents excessive oscillations due to flexible dynamics, compensates uncertainties, and addresses the inherent time delay. In addition to this, a delay-dependent stability condition for the overall system dynamics is obtained including the human operator with reaction time delay, the adaptive controller, and the flexible quadrotor dynamics with input delay. With comparative simulation studies, it is demonstrated that the flexible arm tip oscillations are significantly reduced when the low-frequency delay-resistant closed-loop reference model adaptive controller is used, compared to a closed-loop reference model adaptive controller and a conventional model reference adaptive controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Flexible Quadrotor Unmanned Aerial Vehicles: Spatially Distributed Modeling and Delay-Resistant Control


    Beteiligte:
    Eraslan, Emre (Autor:in) / Yildiz, Yildiray (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.06.2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Event-Triggered Adaptive Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicles

    Zhao, Zhongyuan / Cao, Chengjie / Luo, Zijuan | Springer Verlag | 2023


    Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

    Wang, Rui / Liu, Jinkun | British Library Online Contents | 2017


    Distributed wind measurements with multiple quadrotor unmanned aerial vehicles in the atmospheric boundary layer

    Wetz, Tamino / Wildmann, Norman / Beyrich, Frank | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2021

    Freier Zugriff

    Turnable quadrotor unmanned aerial vehicle

    TIAN HAOYANG / LIANG WENXIANG / CHEN WENJUAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Variable-pitch quadrotor unmanned aerial vehicle

    WANG ZIYI / CHEN WENJUAN / ZENG ZHOUJIE et al. | Europäisches Patentamt | 2021

    Freier Zugriff