Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Proceedings of the 2025 26th International Carpathian Control Conference (ICCC): Grandhotel Starý Smokovec, High Tatras, Starý Smokovec, Slovak Republic, 19-21 May 2025. ed. / Jan Kacur; Tomas Skovranek; Marek Laciak; Andrea Mojzisova. Piscataway: Institute of Electrical and Electronics Engineers Inc., 2025. (Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025).
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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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 - Conference code: 26
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
SN - 979-8-3315-0128-0
T3 - Proceedings of the 2025 26th International Carpathian Control Conference, ICCC 2025
BT - Proceedings of the 2025 26th International Carpathian Control Conference (ICCC)
A2 - Kacur, Jan
A2 - Skovranek, Tomas
A2 - Laciak, Marek
A2 - Mojzisova, Andrea
PB - Institute of Electrical and Electronics Engineers Inc.
CY - Piscataway
T2 - 26th International Carpathian Control Conference - ICCC 2025
Y2 - 19 May 2025 through 21 May 2025
ER -