Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

  • Leandro Oliveira Libório
  • Gabriel Oliveira Pimentel
  • Murillo Ferreira Dos Santos
  • Fernanda Mara Fernandes
  • José Lima
  • Maurício Herche Fófano De Morais
  • Paolo Mercorelli
  • Ana Isabel Pereira

This work presents the control allocation and tuning methodology for an over-actuated Hexacopter Tilt-Rotor (HTR) designed for precision agriculture applications. The HTR's innovative design includes two independently tiltable rotors, enhancing stability and forward velocity, making it suitable for low-altitude maneuvers in agricultural environments. The study focuses on the implementation of a cascade Proportional (P)-Proportional, Integral and Derivative (PID) control structure with Successive Loop Closure (SLC) and the application of an extended Fast Control Allocation (FCA) method to optimize actuator performance. The control gains were meticulously tuned to ensure stability and robustness across six degrees of freedom, achieving precise trajectory tracking and efficient resource use. Validation was conducted through simulations using Robot Operating System (ROS) and Gazebo, replicating realistic precision agriculture scenarios. Results demonstrate the efficacy of the proposed control strategies, highlighting their potential for real-world applications in crop monitoring, pest detection, and resource optimization. Future work includes physical implementation and integration with collaborative robotics.

OriginalspracheEnglisch
TitelProceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025
HerausgeberJan Kacur, Tomas Skovranek, Marek Laciak, Andrea Mojzisova
VerlagInstitute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum2025
ISBN (elektronisch)9798331501273
DOIs
PublikationsstatusErschienen - 2025
Veranstaltung26th International Carpathian Control Conference, ICCC 2025 - Stary Smokovec, High Tatras, Slowakei
Dauer: 19.05.202521.05.2025

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DOI