This paper presents modeling and control of a low-cost tilt-augmented quadrotor helicopter. Conventional rotary wing unmanned aerial vehicles (UAVs) with the capability to take-off and land vertically suffer from under actuation. The problem of having strictly fewer control inputs as compared to degrees of freedom of the system induces control design challenges and limits the flight envelope of the vehicle due to coupled states. This work considers a tilt-augmented quadrotor helicopter which is a fully actuated system as the number of control inputs are equal to the system degrees of freedom. Hence, control design for each degree of freedom of the system is decoupled and can be independently carried out. Mathematical modeling of the tilt-augmented quadrotor helicopter is presented which reveals the challenge of control allocation for the available actuators. A PD-type quaternion based attitude controller is developed to ensure stabilization. A PID controller is proposed for position tracking. Numerical simulations as well as experimental results are presented to validate the proposed vehicle model and control design.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Low-Cost Tilt-Augmented Quadrotor Helicopter : Modeling and Control


    Beteiligte:


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    3955146 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    MODELING AND NEURAL CONTROL OF QUADROTOR HELICOPTER

    M Yasir Amir / Vali uddin Abbas | DOAJ | 2011

    Freier Zugriff

    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, G. / Waslander, S. / Tomlin, C. et al. | British Library Conference Proceedings | 2008


    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, Gabriel / Waslander, Steven / Tomlin, Claire | AIAA | 2008



    Robust adaptive control of a quadrotor helicopter

    Nicol, C. / Macnab, C.J.B. / Ramirez-Serrano, A. | Tema Archiv | 2011