Quadrotor hoverboard
01 Dec 2019-
TL;DR: A control scheme that uses the center of gravity (CoG) variation caused by the tilt of the pilot standing on a quadrotor to maneuver it in the horizontal plane is proposed and simulation results show that it is possible to control the Quadrotor motion using CoG shifts caused by a pilot with moderate skills.
Abstract: Riding on a quadrotor in a standing position demands extreme piloting skills. However, niche tasks like certain inspection and rescue missions can be accomplished by doing so. In this paper, we propose a control scheme that uses the center of gravity (CoG) variation caused by the tilt of the pilot standing on a quadrotor to maneuver it in the horizontal plane. Keeping potential applications in mind, we design controllers for two modes of operation: a) Maneuver via leaning mode during which the quadrotor converts the forward CoG shift into a proportional forward speed, and the sideward CoG shift to a yaw rate, thus enabling a turn, and b) Remote control mode in which the quadrotor platform rejects all the disturbances including the pilot’s movements and maintains the desired speed and turn commands provided by the pilot using a hand-held remote control. We use a simplified model of a human standing on a quadrotor to test the proposed control laws using simulations. The simulation results show that it is possible to control the quadrotor motion using CoG shifts caused by a pilot with moderate skills.
Citations
More filters
[...]
31 May 2023
TL;DR: In this paper , a concurrent learning adaptive controller is used to balance the inverted pendulum on a quadrotor with unknown length of the pendulum, where the control input cannot be used to cancel the uncertainty.
Abstract: Balancing an inverted pendulum on an unmanned aerial vehicle has been a topic of interest in recent literature. For example, a recent study [1] uses an LQR controller to balance the inverted pendulum on a quadrotor drone. However, these studies consider the length of the pendulum to be known a priori. Indeed, in certain applications this assumption might not hold true. For example, consider a quadrotor hoverboard being used by people of different heights. In such cases, an approach is required to estimate the length of the pendulum. This paper analyzes the linearized dynamics of the combined system of quadrotor and inverted pendulum. It is found that unknown length of pendulum causes the system to fall in the category of unmatched uncertain systems where the control input cannot be used to cancel the uncertainty. This paper formulates the problem in such a manner that the system is still controllable in presence of this unmatched uncertainty. A concurrent learning adaptive controller, which avoids the use of persistently exciting signals, is then utilized to estimate the unmatched uncertainty and hence the length of the pendulum. Simulation results validate the effectiveness of the adaptive controller for the proposed problem.
References
More filters
[...]
TL;DR: This work extends the classic control problem of the inverted pendulum by placing the pendulum on top of a quadrotor aerial vehicle, using a ‘Virtual Body Frame’ for the time-invariant description of curved trajectories.
Abstract: We extend the classic control problem of the inverted pendulum by placing the pendulum on top of a quadrotor aerial vehicle. Both static and dynamic equilibria of the system are investigated to find nominal states of the system at standstill and on circular trajectories. Control laws are designed around these nominal trajectories. A yaw-independent description of quadrotor dynamics is introduced, using a ‘Virtual Body Frame’. This allows for the time-invariant description of curved trajectories. The balancing performance of the controller is demonstrated in the ETH Zurich Flying Machine Arena testbed. Development potential for the future is highlighted, with a focus on applying learning methodology to increase performance by eliminating systematic errors that were seen in experiments.
162 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.
19 citations
"Quadrotor hoverboard" refers background in this paper
[...]
[...]
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.
14 citations
"Quadrotor hoverboard" refers background in this paper
[...]
[...]
TL;DR: A three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC) and both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy.
Abstract: This paper is focused on the flying inverted pendulum problem, i.e., how to balance a pendulum on a flying quadrotor. After analyzing the system dynamics, a three loop cascade control strategy is proposed based on active disturbance rejection control (ADRC). Both the pendulum balancing and the trajectory tracking of the flying quadrotor are implemented by using the proposed control strategy. A simulation platform of 3D mechanical systems is deployed to verify the control performance and robustness of the proposed strategy, including a comparison with a Linear Quadratic Controller (LQR). Finally, a real quadrotor is flying with a pendulum to demonstrate the proposed method that can keep the system at equilibrium and show strong robustness against disturbances.
10 citations
"Quadrotor hoverboard" refers background in this paper
[...]
[...]
TL;DR: The static and dynamical characteristic of the propulsion system is presented and its dependence on the fuel-air mixture is discussed, and the static throttle-speed and speed-thrust curves are determined.
Abstract: In this paper we present identification results of an internal combustion engine propulsion system. We aim to use this system in a large quadrotor designed to lift heavy objects with flight autonomy up to 60 minutes. In this paper we describe the testbed which we have built to perform the experiments. We present the static and dynamical characteristic of the propulsion system and discuss its dependence on the fuel-air mixture. In particular, we determine the static throttle-speed and speed-thrust curves. For dynamics analysis, we assume that the rotor dynamics can be represented by a PT 1 term and present its parameters for different engine regimes. Using the overall system transfer function we design a simple PI control of the rotor speed which assures setpoint tracking. Finally, we discuss if the achieved closed loop dynamics is suitable for attitude control of a large quadrotor.
6 citations
"Quadrotor hoverboard" refers background in this paper
[...]