This paper introduces a generic and accurate dynamic model, based on Newton-Euler formalism, for multirotor vehicles taking into consideration aerodynamic effects. Besides, the paper considers a reformulation of the well-known Model-Free Control (MFC), which is applied for a low-cost quadrotor even in the presence of various type disturbances, including unmodeled or neglected dynamics, parametric uncertainties, external disturbances, etc. This reformulation takes into consideration the limitation of the estimator used by the classical MFC by using a Sliding Mode auxiliary Controller (SMC) leading to SMC-MFC controller. In addition, instead of using a pure data-driven based control, we introduce the available mathematical dynamics of the system even if they are poorly known. Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e., unmodeled dynamics, disturbances, etc.). The stability of the closed-loop system is guaranteed and for which a theoretical analysis is provided. The numerical simulations have shown satisfactory results. An in-depth discussion, with respect to the control performance and consumed energy, is highlighted by considering several scenarios and using several metrics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Generic dynamic modeling for multirotor VTOL UAVs and robust Sliding Mode based Model-Free Control for 3D navigation


    Beteiligte:


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    1399963 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    MULTIROTOR VTOL DRONE

    GOLOSHCHAPOV VLADLEN MIKHAJLOVICH / BAKLIN ANDREJ ALEKSANDROVICH / ASANINA DAR JA ANDREEVNA et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Multirotor VTOL aircraft

    Kirchner, M.E. / Front, J.V. | Engineering Index Backfile | 1968


    Distributed Event-Based Sliding-Mode Consensus Control in Dynamic Formation for VTOL-UAVs

    Alvarez-Munoz, J. U. / Chevalier, J. / Castillo-Zamora, Jose J. et al. | IEEE | 2021


    Free Wing Multirotor Transitional S/VTOL Aircraft

    DOLEJSI EDWARD | Europäisches Patentamt | 2022

    Freier Zugriff

    Modeling Power Consumptions for Multirotor UAVs

    Gong, Hao / Huang, Baoqi / Jia, Bing et al. | IEEE | 2023