Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor. / Pimentel, Gabriel Oliveira; Dos Santos, Murillo Ferreira; Honorio, Leonardo de Mello 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. 315-320 (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023).

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Pimentel, GO, Dos Santos, MF, Honorio, LDM, Mercorelli, P, Da Silva, MF & Moreira, APGM 2023, Design, Modeling and Control of an Over-actuated Hexacopter 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. 315-320, 24th International Carpathian Control Conference, Sinaia, Rumänien, 12.05.23. https://doi.org/10.1109/ICCC57093.2023.10178948

APA

Pimentel, G. O., Dos Santos, M. F., Honorio, L. D. M., Mercorelli, P., Da Silva, M. F., & Moreira, A. P. G. M. (2023). Design, Modeling and Control of an Over-actuated Hexacopter 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. 315-320). (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCC57093.2023.10178948

Vancouver

Pimentel GO, Dos Santos MF, Honorio LDM, Mercorelli P, Da Silva MF, Moreira APGM. Design, Modeling and Control of an Over-actuated Hexacopter 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. 315-320. (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). doi: 10.1109/ICCC57093.2023.10178948

Bibtex

@inbook{dcc08ccadf304da0af091489c5c01917,
title = "Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor",
abstract = "This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.",
keywords = "Hexacopter Tilt-Rotor, Over-actuated Vehicle, P-PID controller, Successive Loop Closure, Engineering",
author = "Pimentel, {Gabriel Oliveira} and {Dos Santos}, {Murillo Ferreira} and Honorio, {Leonardo de Mello} and Paolo Mercorelli and {Da Silva}, {Mathaus Ferreira} and Moreira, {Antonio Paulo Gomes Mendes}",
note = "Funding Information: ACKNOWLEDGMENT The authors would like to thank CEFET-MG, DAAD and Leuphana University of L{\"u}neburg for their financial support. 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/ICCC57093.2023.10178948",
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 = "315--320",
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 - Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor

AU - Pimentel, Gabriel Oliveira

AU - Dos Santos, Murillo Ferreira

AU - Honorio, Leonardo de Mello

AU - Mercorelli, Paolo

AU - Da Silva, Mathaus Ferreira

AU - Moreira, Antonio Paulo Gomes Mendes

N1 - Conference code: 24

PY - 2023/6/12

Y1 - 2023/6/12

N2 - This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.

AB - This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.

KW - Hexacopter Tilt-Rotor

KW - Over-actuated Vehicle

KW - P-PID controller

KW - Successive Loop Closure

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85166473264&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/757bac70-83bb-3323-8c73-219b8e483da0/

U2 - 10.1109/ICCC57093.2023.10178948

DO - 10.1109/ICCC57093.2023.10178948

M3 - Article in conference proceedings

AN - SCOPUS:85166473264

SN - 979-8-3503-1023-8

T3 - Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023

SP - 315

EP - 320

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 -

DOI

Zuletzt angesehen

Publikationen

  1. Embracing scale-dependence to achieve a deeper understanding of biodiversity and its change across communities
  2. Practices and Policies from Spaces of Possibilities to Institutional Innovations
  3. Group formation in computer-supported collaborative learning
  4. The interplay between posture control and memory for spatial locations
  5. Performance of the DSM-5-based criteria for Internet addiction
  6. Ecologies of Making
  7. Using Long-Duration Static Stretch Training to Counteract Strength and Flexibility Deficits in Moderately Trained Participants
  8. Gas-Kampf oder Gas-Krampf
  9. Simulation-based Investigation of Energy Flexibility in the Optimization of Hinterland Drainage
  10. Collaborative design prototyping in transdisciplinary research
  11. Spectral Kinetic Simulation of the Ideal Multipole Resonance Probe
  12. Modelling scenarios to identify a combined sediment-water management strategy for the large reservoirs of the Tuyamuyun hydro-complex
  13. Relational Transdisciplinarity: Five Reflexive Steps for Embodying Relational Ontologies in Transdisciplinary Learning Contexts
  14. Automated Fabrication of Elastomeric Prepregs for Soft Robotics Applications
  15. Knowledge Decolonization à la Grounded Theory
  16. The Uniqueness Value and Its Consequences for Organization Studies
  17. Assessment of age-correlated occupational strain as a prerequisite for age-appropriate work organization
  18. Winning Ugly
  19. Functionality or Aesthetics?
  20. Comparison of different FEM code approaches in the simulation of the die deflection during aluminium extrusion
  21. Optimising Patterns of Life Conduct
  22. Experimental Investigation of Efficiency and Deposit Process Temperature During Multi-Layer Friction Surfacing
  23. Amplifying actions for food system transformation: insights from the Stockholm region
  24. Organisationen hacken
  25. A hybrid hydraulic piezo actuator modeling and hysteresis effect identification for control in camless internal combustion engines
  26. Careless product use in access-based services
  27. Random year intercepts in mixed models help to assess uncertainties in insect population trends
  28. Vocational exploration: Multivariate predictors and effect on confidence development in adolescence

Presse / Medien

  1. Telefon-Interview zum Handy