Nonlinear control allocation applied on a QTR: the influence of the frequency variation

Publikation: Beiträge in SammelwerkenKapitelbegutachtet

Authors

  • Murillo Ferreira dos Santos
  • Leonardo de Mello Honório
  • Mathaus Ferreira da Silva
  • Vinícius Ferreira Vidal
  • Paolo Mercorelli

In this chapter, we study the influence of the frequency variation of a nonlinear control allocation technique execution, developed by the author [1], named Fast Control Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The Loop (SITL) simulation, we consider the use of Gazebo, QGroundControl, and Matlab® applications, where different frequencies of the FCA can be implemented separately in Matlab, always analyzing the QTR stability conditions from the virtual environment performed in Gazebo. The results showed that the FCA needs at least 200Hz of frequency for the QTR safe flight conditions, i.e., 2 times smaller than the main control loop frequency, 400Hz. Lower frequencies would cause instability or crashes during the QTR operation.

OriginalspracheEnglisch
TitelModeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
HerausgeberPaolo Mercorelli, Weicun Zhang, Hamidreza Nemati, YuMing Zhang
Anzahl der Seiten15
VerlagElsevier
Erscheinungsdatum01.01.2024
Seiten311-325
ISBN (Print)9780323952088
ISBN (elektronisch)9780323952071
DOIs
PublikationsstatusErschienen - 01.01.2024

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© 2024 Elsevier Inc. All rights reserved.

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