The tilt-rotor quadcopter is an optimized structure of the standard quadcopter, which has actuating motors that can tilt about the quadcopter arm. A tilt-rotor quadcopter with more control inputs could theoretically bring stronger anti-disturbance and fault tolerance capabilities and track along a given path while maintaining a desired attitude. In this paper, a tilt-rotor quadcopter prototype is presented, whose actuator groups are independently tilted by motor servo systems. A non-linear model predictive control is further designed to allocate the inputs for actuating motors and tilting motors while solving the pathfollowing problem of a drone. Numerical simulations were run with different disturbances on the tilt-rotor quadcopter model, whose dynamics are presented according to the real quadcopter prototype. The simulation studies show the redundant control volume of the tilt-rotor quadcopter can bring stronger antidisturbance capabilities and more flexible path-tracking ability to the quadcopter, as well as demonstrate the effectiveness of the control allocation by non-linear model predictive control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Non-linear model predictive control of a tilt-rotor quadcopter for control allocation and path following


    Beteiligte:
    Wang, Yanchao (Autor:in) / You, Xu (Autor:in) / Baghdadi, Mehdi (Autor:in)


    Erscheinungsdatum :

    24.04.2024


    Format / Umfang :

    10595101 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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

    Anderson, Robert B. / Marshall, Julius A. / L'Afflitto, Andrea | IEEE | 2021




    Model predictive control design for XV-15 tilt rotor flight control

    Mehra, R. / Wasikowski, M. / Prasanth, R. et al. | AIAA | 2001


    Model Predictive Control of Quadcopter Using Physics-Guided Neural Network

    Hong, Seong Hyeon / Wang, Yi / Yu, Yang | TIBKAT | 2022