Design considerations for a large quadrotor with moving mass control
07 Jun 2016-pp 1327-1334
TL;DR: In this paper, the authors proposed using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system.
Abstract: In this paper we present our ongoing efforts to build a heavy lift multirotor platform capable of lifting over 50kg of payload. Such a system requires a paradigm shift in the design of the UAV. Therefore we propose using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system. In this paper we present a detailed stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the construction design parametrization. We present simulation results from a Gazebo based simulator that confirm the results of our mathematical analysis.
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TL;DR: This paper surveys the contemporary progress and problems of moving mass control technology in various capacities including spacecraft, spinning projectiles, underwater vehicles, unmanned aerial vehicles, and re-entry vehicles, special attention is paid to the moving mass configurations and its corresponding layout design methods.
Abstract: Moving mass control is a control mechanism dedicated to regulating attitude of airborne vehicles by using motion of internal moving masses. This paper surveys the contemporary progress and problems of moving mass control technology in various capacities including spacecraft, spinning projectiles, underwater vehicles, unmanned aerial vehicles, and re-entry vehicles, special attention is paid to the moving mass configurations and its corresponding layout design methods. In addition, technological difficulties and developmental perspectives in dynamic analysis and attitude control problems of the underlying subject are also analyzed, and suggestions for future augmentation are proposed in the named field.
85 citations
TL;DR: In this paper, the effect of multi-rotor aerial vehicle designs on their abilities in terms of tasks and system properties is reviewed. And a general taxonomy is proposed to characterize and describe multirotor UAVs.
Abstract: This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor ...
54 citations
TL;DR: This paper reviews the different configurations, flight mechanisms, and applications of UASs, and divides them into four main categories, including Horizontal Takeoff and Landing (HTOL), Vertical Take off and landing (VTOL), Hybrid, and Bio-Based drones.
Abstract: Unmanned Aerial Systems (UASs) have a variety of applications in our daily life that have attracted the attention of many researchers around the world. There are a variety of innovations in the flight mechanisms that UASs are applying for flight. There is also a significant interest in the development of new types of drones that can fly autonomously in different locations, such as cities, marine, and space environments and perform various missions. This paper reviews the different configurations, flight mechanisms, and applications of UASs. First of all, UASs are divided into four main categories, including Horizontal Takeoff and Landing (HTOL), Vertical Takeoff and Landing (VTOL), Hybrid, and Bio-Based drones. Then each category is divided into some sub-categories in order to have a coherent review. The characteristics, advantages and drawbacks of each category are discussed elaborately. Moreover, a comprehensive study is carried out on the applications of UASs and their specifications.
38 citations
TL;DR: The mathematical modeling problem of a quadrotor UAV with time-varying mass is first investigated, and the nonlinear dynamics describing the six-degrees-of-freedom full motion is established.
Abstract: In the practical applications, the mass of a quadrotor unmanned aerial vehicle (UAV) would be time-varying. This time-varying mass will deteriorate the control performance of UAV. To solve this challenge, the mathematical modeling problem of a quadrotor UAV with time-varying mass is first investigated in this paper. The nonlinear dynamics describing the six-degrees-of-freedom full motion is established. Based on the established model, taking attitude tracking control problem into consideration, a robust control scheme is then designed via the sliding mode control theory. Applying the developed proposed approach, the desired trajectory is followed with the attitude tracking error asymptotically stabilized. The proposed controller has the capability of rejecting the external disturbance and the uncertainties induced by the time-varying mass. The feasibility of the established model and the effectiveness of the presented control approach are validated through a simulation study.
31 citations
TL;DR: This paper presents a complete nonlinear dynamical model of a multi-rotor unmanned aerial vehicle and uses it to derive the transfer functions of roll and pitch dynamics and derives necessary conditions for testbed parameters in order to match the testbed and free-flight quadrotor dynamics.
Abstract: In this paper we present a novel concept of attitude control for a multi-rotor unmanned aerial vehicle by actively controlling its center of gravity. This research is a part of our efforts to build a heavy lift multi-rotor platform capable of carrying over 50 kg of payload. To that end, we propose using miniature two-stroke combustion engines to supply the necessary lift and combine them with moving masses used to control the vehicle attitude. In this paper we present a complete nonlinear dynamical model of such a vehicle and use it to derive the transfer functions of roll and pitch dynamics. Furthermore, we formulate a detailed root-locus based stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the mechanical parameter design. We present the experimental testbed, consisted of the vehicle mounted on a 2 degrees of freedom gimbal, and derive necessary conditions for testbed parameters in order to match the testbed and free-flight quadrotor dynamics. Finally, we present simulation results from a Gazebo based simulator and experimental results of the testbed. Both results confirm the findings of our mathematical analysis.
27 citations
References
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Book•
21 Apr 2008
TL;DR: Feedback Systems develops transfer functions through the exponential response of a system, and is accessible across a range of disciplines that utilize feedback in physical, biological, information, and economic systems.
Abstract: This book provides an introduction to the mathematics needed to model, analyze, and design feedback systems. It is an ideal textbook for undergraduate and graduate students, and is indispensable for researchers seeking a self-contained reference on control theory. Unlike most books on the subject, Feedback Systems develops transfer functions through the exponential response of a system, and is accessible across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl strm and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. strm and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. They provide exercises at the end of every chapter, and an accompanying electronic solutions manual is available. Feedback Systems is a complete one-volume resource for students and researchers in mathematics, engineering, and the sciences.Covers the mathematics needed to model, analyze, and design feedback systems Serves as an introductory textbook for students and a self-contained resource for researchers Includes exercises at the end of every chapter Features an electronic solutions manual Offers techniques applicable across a range of disciplines
1,927 citations
TL;DR: A comprehensive review of fuel cell science and engineering with a focus on hydrogen fuel cells is provided in this article, where the most current data from industry and academia have been used with the relation between fuel cell fundamentals and applications highlighted throughout the manuscript.
Abstract: This paper provides a comprehensive review of fuel cell science and engineering with a focus on hydrogen fuel cells. The paper provides a concise, up-to-date review of fuel cell fundamentals; history; competing technologies; types; advantages and challenges; portable, stationary, and transportation applications and markets; current status of research-and-development; future targets; design levels; thermodynamic and electrochemical principles; system evaluation factors; and prospects and outlook. The most current data from industry and academia have been used with the relation between fuel cell fundamentals and applications highlighted throughout the manuscript.
1,238 citations
"Design considerations for a large q..." refers background in this paper
...Since there are no actual comparisons of ICE and DC motors in micro UAVs, we turn to the findings in [3], where authors compared various engines’ performance (i....
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...However, DC motors fall short in a power-to-weight ratio comparison, which is crucial for lifting heavy objects and sustaining them airborne for a long period of time [2], [3]....
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07 Jun 2004
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Abstract: Progresses in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.
831 citations
"Design considerations for a large q..." refers background in this paper
...Ever since they were introduced to the mainstream [1], quadrotors have emerged as a number one research platform used in aerial robotics....
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TL;DR: The X-4 Flyer as mentioned in this paper is a 4.4 kg quadrotor with a 1.5 kg payload, which uses tuned plant dynamics with an onboard attitude controller to stabilise flight.
Abstract: Typical quadrotor aerial robots used in research weigh <3kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4. kg quadrotor with a 1. kg payload, is intended to be prototypical of useful commercial quadrotors. The custom-built craft uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight.
492 citations
"Design considerations for a large q..." refers result in this paper
...This design strategy is in line with conclusions given in [17], where authors consider vertical displacement of rotor plane w....
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05 Nov 2012
TL;DR: A system for the comprehensive simulation of quadrotor UAVs is presented, integrated with ROS and the Gazebo simulator, which allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments.
Abstract: Quadrotor UAVs have successfully been used both in research and for commercial applications in recent years and there has been significant progress in the design of robust control software and hardware. Nevertheless, testing of prototype UAV systems still means risk of damage due to failures. Motivated by this, a system for the comprehensive simulation of quadrotor UAVs is presented in this paper. Unlike existing solutions, the presented system is integrated with ROS and the Gazebo simulator. This comprehensive approach allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments. The dynamics model of the quadrotor has been parameterized using wind tunnel tests and validated by a comparison of simulated and real flight data. The applicability for simulation of complex UAV systems is demonstrated using LIDAR-based and visual SLAM approaches available as open source software.
315 citations
"Design considerations for a large q..." refers methods in this paper
...The model is based on the standard quadrotor model [18], [19], which is extended by adding four joints in the motor arms....
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