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Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor. / Dos Santos, Murillo Ferreira; De Mello Honorio, Leonardo; Da Silva, Mathaus Ferreira et al.
Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. Hrsg. / Daniel Drotos; Rabab Benotsmane; Attila Karoly Varga; Attila Trohak; Jozsef Vasarhelyi. Institute of Electrical and Electronics Engineers Inc., 2023. S. 135-140 (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023).
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
Harvard
Dos Santos, MF, De Mello Honorio, L, Da Silva, MF, Silva, WR, De Magalhaes Lima, JLS
, Mercorelli, P & Do Carmo, MJ 2023,
Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor. in D Drotos, R Benotsmane, AK Varga, A Trohak & J Vasarhelyi (Hrsg.),
Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023, Institute of Electrical and Electronics Engineers Inc., S. 135-140, 24th International Carpathian Control Conference, Sinaia, Rumänien,
12.05.23.
https://doi.org/10.1109/ICCC57093.2023.10178963APA
Dos Santos, M. F., De Mello Honorio, L., Da Silva, M. F., Silva, W. R., De Magalhaes Lima, J. L. S.
, Mercorelli, P., & Do Carmo, M. J. (2023).
Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor. In D. Drotos, R. Benotsmane, A. K. Varga, A. Trohak, & J. Vasarhelyi (Hrsg.),
Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023 (S. 135-140). (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). Institute of Electrical and Electronics Engineers Inc..
https://doi.org/10.1109/ICCC57093.2023.10178963Vancouver
Dos Santos MF, De Mello Honorio L, Da Silva MF, Silva WR, De Magalhaes Lima JLS
, Mercorelli P et al.
Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor. in Drotos D, Benotsmane R, Varga AK, Trohak A, Vasarhelyi J, Hrsg., Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. Institute of Electrical and Electronics Engineers Inc. 2023. S. 135-140. (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). doi: 10.1109/ICCC57093.2023.10178963
Bibtex
@inbook{80dde7ef91d947a8bd5b82df4c1cbed0,
title = "Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor",
abstract = "To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)-Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.",
keywords = "MIMO Cascade Controller, Overactuated Vehicle, P-PID Controller, Engineering",
author = "{Dos Santos}, {Murillo Ferreira} and {De Mello Honorio}, Leonardo and {Da Silva}, {Mathaus Ferreira} and Silva, {William Rodrigues} and {De Magalhaes Lima}, {Jose Luis Sousa} and Paolo Mercorelli and {Do Carmo}, {Marlon Jose}",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 24th International Carpathian Control Conference, ICCC 2023 ; Conference date: 12-05-2023 Through 14-05-2023",
year = "2023",
month = jun,
day = "12",
doi = "10.1109/ICCC57093.2023.10178963",
language = "English",
isbn = "979-8-3503-1023-8",
series = "Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "135--140",
editor = "Daniel Drotos and Rabab Benotsmane and Varga, {Attila Karoly} and Attila Trohak and Jozsef Vasarhelyi",
booktitle = "Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023",
address = "United States",
}
RIS
TY - CHAP
T1 - Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor
AU - Dos Santos, Murillo Ferreira
AU - De Mello Honorio, Leonardo
AU - Da Silva, Mathaus Ferreira
AU - Silva, William Rodrigues
AU - De Magalhaes Lima, Jose Luis Sousa
AU - Mercorelli, Paolo
AU - Do Carmo, Marlon Jose
N1 - Conference code: 24
PY - 2023/6/12
Y1 - 2023/6/12
N2 - To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)-Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.
AB - To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)-Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.
KW - MIMO Cascade Controller
KW - Overactuated Vehicle
KW - P-PID Controller
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85166476849&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/c6d537f0-934d-3243-bd19-03b4a74348b8/
U2 - 10.1109/ICCC57093.2023.10178963
DO - 10.1109/ICCC57093.2023.10178963
M3 - Article in conference proceedings
AN - SCOPUS:85166476849
SN - 979-8-3503-1023-8
T3 - Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023
SP - 135
EP - 140
BT - Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023
A2 - Drotos, Daniel
A2 - Benotsmane, Rabab
A2 - Varga, Attila Karoly
A2 - Trohak, Attila
A2 - Vasarhelyi, Jozsef
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Carpathian Control Conference
Y2 - 12 May 2023 through 14 May 2023
ER -
