This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads. This control architecture leverages on a thorough analysis of the aircraft's equation of motion, which reveals gyroscopic effects that were not fully characterized and were disregarded while synthesizing control algorithms in prior publications. Furthermore, the proposed control architecture employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Flight tests involving a quadcopter pulling an unmodeled cart by means of a thin rope of unknown length, which is slack at the beginning of the mission, verify the effectiveness of the theoretical results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Constrained Robust Model Reference Adaptive Control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart


    Beteiligte:


    Erscheinungsdatum :

    01.02.2021


    Format / Umfang :

    1945351 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robust Adaptive Control in the Presence of Unmodeled Actuator Dynamics

    Boskovic, Jovan / Jackson, Joseph A. / Mehra, Raman | AIAA | 2013


    ENHANCING QUADCOPTER CONTROL: A MODEL REFERENCE ADAPTIVE CONTROL APPROACH WITH NEURAL NETWORKS

    Bassolillo, S.R. / Raspaolo, G. / Blasi, L. et al. | DataCite | 2024


    Pulling cart with adjusting wheel

    LI XINXIN | Europäisches Patentamt | 2015

    Freier Zugriff

    Robotic cart pulling vehicle for automated pulling of carts

    JACOBSEN NIELS JUL | Europäisches Patentamt | 2020

    Freier Zugriff