Nonlinear control allocation applied on a QTR: the influence of the frequency variation
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Nonlinear control allocation applied on a QTR : the influence of the frequency variation. / Ferreira dos Santos, Murillo; de Mello Honório, Leonardo; Ferreira da Silva, Mathaus et al.
Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Hrsg. / Paolo Mercorelli; Weicun Zhang; Hamidreza Nemati; YuMing Zhang. Elsevier, 2024. S. 311-325.Publikation: Beiträge in Sammelwerken › Kapitel › begutachtet
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TY - CHAP
T1 - Nonlinear control allocation applied on a QTR
T2 - the influence of the frequency variation
AU - Ferreira dos Santos, Murillo
AU - de Mello Honório, Leonardo
AU - Ferreira da Silva, Mathaus
AU - Ferreira Vidal, Vinícius
AU - Mercorelli, Paolo
N1 - Publisher Copyright: © 2024 Elsevier Inc. All rights reserved.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - 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.
AB - 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.
KW - Nonlinear control allocation
KW - Over-actuated unmanned aerial vehicle
KW - Software in the loop
KW - Threshold time
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85189593137&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/9b026ff8-aa87-3634-9ee5-630debbbd8f7/
U2 - 10.1016/b978-0-32-395207-1.00026-3
DO - 10.1016/b978-0-32-395207-1.00026-3
M3 - Chapter
AN - SCOPUS:85189593137
SN - 9780323952088
SP - 311
EP - 325
BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
A2 - Mercorelli, Paolo
A2 - Zhang, Weicun
A2 - Nemati, Hamidreza
A2 - Zhang, YuMing
PB - Elsevier
ER -