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 -