Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. ed. / Daniel Drotos; Rabab Benotsmane; Attila Karoly Varga; Attila Trohak; Jozsef Vasarhelyi. Institute of Electrical and Electronics Engineers Inc., 2023. p. 135-140 (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023).
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor
AU - Dos Santos, Murillo Ferreira
AU - De Mello Honorio, Leonardo
AU - Da Silva, Mathaus Ferreira
AU - Silva, William Rodrigues
AU - De Magalhaes Lima, Jose Luis Sousa
AU - Mercorelli, Paolo
AU - Do Carmo, Marlon Jose
N1 - Conference code: 24
PY - 2023/6/12
Y1 - 2023/6/12
N2 - To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)-Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.
AB - To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)-Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.
KW - MIMO Cascade Controller
KW - Overactuated Vehicle
KW - P-PID Controller
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85166476849&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/c6d537f0-934d-3243-bd19-03b4a74348b8/
U2 - 10.1109/ICCC57093.2023.10178963
DO - 10.1109/ICCC57093.2023.10178963
M3 - Article in conference proceedings
AN - SCOPUS:85166476849
SN - 979-8-3503-1023-8
T3 - Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023
SP - 135
EP - 140
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 -