Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

  • Leandro Oliveira Libório
  • Gabriel Oliveira Pimentel
  • Murillo Ferreira Dos Santos
  • Fernanda Mara Fernandes
  • José Lima
  • Maurício Herche Fófano De Morais
  • Paolo Mercorelli
  • Ana Isabel Pereira

This work presents the control allocation and tuning methodology for an over-actuated Hexacopter Tilt-Rotor (HTR) designed for precision agriculture applications. The HTR's innovative design includes two independently tiltable rotors, enhancing stability and forward velocity, making it suitable for low-altitude maneuvers in agricultural environments. The study focuses on the implementation of a cascade Proportional (P)-Proportional, Integral and Derivative (PID) control structure with Successive Loop Closure (SLC) and the application of an extended Fast Control Allocation (FCA) method to optimize actuator performance. The control gains were meticulously tuned to ensure stability and robustness across six degrees of freedom, achieving precise trajectory tracking and efficient resource use. Validation was conducted through simulations using Robot Operating System (ROS) and Gazebo, replicating realistic precision agriculture scenarios. Results demonstrate the efficacy of the proposed control strategies, highlighting their potential for real-world applications in crop monitoring, pest detection, and resource optimization. Future work includes physical implementation and integration with collaborative robotics.

Original languageEnglish
Title of host publicationProceedings of the 2025 26th International Carpathian Control Conference (ICCC) : Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025
EditorsJan Kacur, Tomas Skovranek, Marek Laciak, Andrea Mojzisova
Number of pages6
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date2025
ISBN (print)979-8-3315-0128-0
ISBN (electronic)979-8-3315-0127-3, 979-8-3315-0126-6
DOIs
Publication statusPublished - 2025
Event26th International Carpathian Control Conference - ICCC 2025 - Grandhotel Starý Smokovec, Stary Smokovec, High Tatras, Slovakia
Duration: 19.05.202521.05.2025
Conference number: 26

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

    Research areas

  • Fast Control Allocation, Hexacopter Tilt-Rotor, UAV Controller, Unmanned Aerial Vehicle
  • Engineering

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