TY - CHAP

T1 - Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

AU - Libório, Leandro Oliveira

AU - Pimentel, Gabriel Oliveira

AU - Dos Santos, Murillo Ferreira

AU - Fernandes, Fernanda Mara

AU - Lima, José

AU - De Morais, Maurício Herche Fófano

AU - Mercorelli, Paolo

AU - Pereira, Ana Isabel

N1 - Publisher Copyright: © 2025 IEEE.

PY - 2025

Y1 - 2025

N2 - 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.

AB - 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.

KW - Fast Control Allocation

KW - Hexacopter Tilt-Rotor

KW - UAV Controller

KW - Unmanned Aerial Vehicle

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=105008962527&partnerID=8YFLogxK

U2 - 10.1109/ICCC65605.2025.11022852

DO - 10.1109/ICCC65605.2025.11022852

M3 - Article in conference proceedings

AN - SCOPUS:105008962527

T3 - Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025

BT - Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025

A2 - Kacur, Jan

A2 - Skovranek, Tomas

A2 - Laciak, Marek

A2 - Mojzisova, Andrea

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 26th International Carpathian Control Conference, ICCC 2025

Y2 - 19 May 2025 through 21 May 2025

ER -