PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
Tytuł artykułu

Control Methods Design for a Model of Asymmetrical Quadrocopter

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The paper describes the results of quadrocopters motion properties for the control based on the inverse dynamics method and optimal control method with synthesis linear-quadratic regulator (LQR). Motion of quadrocopters is tested for composite trajectories. The new model of asymmetrical quadrocopters, taking into account the rotation and shift of one arm relative to the other, was developed. A few criteria for evaluation of the effectiveness of control methods of quadrocopters are presented in this paper. An analysis of the results allows selecting a method for solving the problem of quadrocopters control and making recommendations for the formation of trajectories.
Twórcy
autor
  • Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science, Prószkowska Street No. 76, 45-758 Opole, Poland
autor
  • Opole University of Technology, Faculty of Electrical Engineering, Automatic Control and Computer Science, Prószkowska Street No. 76, 45-758 Opole, Poland
Bibliografia
  • [1] Erdinc Altug, James P. Ostrowski, Robert Mahony, “Control of a Quadrotor Helicopter Using Visual Feedback”. In: Proceedings of the 2002 IEEE, International Conference on Robotics & Automation, Washington, DC, May 2002, 72–77.
  • [2] J. Gordon Leishman, Principles of Helicopter Aerodynamics, 2nd edition, Cambridge University Press, 2006, 25–33.
  • [3] H. Bolandi, M. Rezaei, R. Mohsenipour, H. Nemati, S. Smailzadeh, “Attitude Control of a Quadrotor with Optimized PID Controller”, Intelligent Control and Automation, vol. 4, no. 3, 2013, 335–342.DOI: 10.4236/ica.2013.43039.
  • [4] H. Voos, “Nonlinear State-Dependent Riccati Equation Control of a Quadrotor UAV”. In: Conference: Computer Aided Control System Design,2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, Munich, Germany, 2006, 2547–2552. DOI: 10.1109/CACSD-CCAISIC. 2006.4777039.
  • [5] Wei Dong, Guo-Ying Gu, Xiangyang Zhu, Han Ding, “Solving the Boundary Value Problem of an Under-Actuated Quadrotor with Subspace Stabilization Approach”, Journal of Intelligent and Robotic Systems, vol. 80, no. 2, November 2015,299–311. DOI: 10.1007/s10846-014-0161-3.
  • [6] Weihua Zhaoa, Tiauw Hiong Go, “Quadcopter formation flight control combining MPC and robust feedback linearization”, Journal of the Franklin Institute, vol. 351, no. 3, March 2014, 1335–1355. DOI: 10.1016/ j.jfranklin.2013.10.021.
  • [7] İ. Can Dikmen, Aydemir Arısoy, Hakan Temeltaş, “Attitude Control of a Quadrotor”, Recent Advances in Space Technologies, Istanbul, 2009, 722–727. DOI: 10.1109/ RAST.2009.5158286.
  • [8] Erdinç Altu˘g, James P. Ostrowski, Camillo J. Taylor, “Control of a Quadrotor Helicopter Using Dual CameraVisual Feedback”, International Journal of Robotics Research vol. 24, no. 5, May 2005, 329–341. DOI: 10.1177/0278364905053804.
  • [9] A. Bemporad, C. Rocchi, “Decentralized Hybrid Model Predictive Control of a Formation of Unmanned Aerial Vehicles”, Decision and Control and European Control Conference (CDC-ECC), Orlando, FL, 2011, 7488–7493. DOI: 10.1109/CDC.2011. 6160521.
  • [10] http://www.hover-bike.com/ - The official website of The Hoverbike.
  • [11] Abdelhamid Tayebi, Stephen McGilvray, “Attitude Stabilization of a VTOL Quadrotor Aircraft”, IEEE Transactions on Control Systems Technology, vol. 14, no. 3, May 2006, 562–571. DOI: 10.1109/TCST.2006. 872519
  • [12] Hanoch Efraim, Amir Shapiro, Gera Weiss, “Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards”, Journal of Intelligent & Robotic Systems, November 2015, vol. 80, no. 2, 313–324. DOI: 10.1007/s10846-015-0176-4.
  • [13] K. M. Zemalache, L. Beji, H. Maaref, “Control of a drone: study and analysis of the robustness”, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 2, no. 1, 2008, 33–42.
  • [14] Thomas S. Alderete, “Simulator aero model implementation”, NASA Ames Research Center, Moffett Field, California.
  • [15] Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Dynamics and Control, 2nd edition, 2004.
  • [16] Krzystof Piotr Jankowski, “Inverse dynamics control in robotics applications”, Canada by Trafford Publishing, Ltd., Victoria, British Columbia, 2004. DOI:10.13140/RG.2.1. 1015. 3683.
  • [17] M. Athans, P.L. Falb, Sterowanie optymalne, Warszawa, 1966 (in Polish).
  • [18] Gurianov A.E. “Control Simulation of quadrocopters”, Electronic Science and Technology Journal Engineering Journal, Moscow, BMSTU, 2014, 522-534, ISSN 2307–0595.
Uwagi
PL
Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-18e6389d-a383-4a41-8198-dc18e2f1bb04
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.