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.
Flexible Quadrotor Unmanned Aerial Vehicles: Spatially Distributed Modeling and Delay-Resistant Control
Journal of Guidance, Control, and Dynamics ; 47 , 6 ; 1109-1122
2024-06-01
Article (Journal)
Electronic Resource
English
Event-Triggered Adaptive Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicles
Springer Verlag | 2023
|Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust
British Library Online Contents | 2017
|German Aerospace Center (DLR) | 2021
|Design of Quadrotor Unmanned Aerial Vehicle
British Library Conference Proceedings | 2017
|