Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor

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

Standard

Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor. / Pimentel, Gabriel Oliveira; Dos Santos, Murillo Ferreira; Honorio, Leonardo de Mello et al.
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. 315-320 (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023).

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

Harvard

Pimentel, GO, Dos Santos, MF, Honorio, LDM, Mercorelli, P, Da Silva, MF & Moreira, APGM 2023, Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor. in D Drotos, R Benotsmane, AK Varga, A Trohak & J Vasarhelyi (eds), Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023, Institute of Electrical and Electronics Engineers Inc., pp. 315-320, 24th International Carpathian Control Conference, Sinaia, Romania, 12.05.23. https://doi.org/10.1109/ICCC57093.2023.10178948

APA

Pimentel, G. O., Dos Santos, M. F., Honorio, L. D. M., Mercorelli, P., Da Silva, M. F., & Moreira, A. P. G. M. (2023). Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor. In D. Drotos, R. Benotsmane, A. K. Varga, A. Trohak, & J. Vasarhelyi (Eds.), Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023 (pp. 315-320). (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCC57093.2023.10178948

Vancouver

Pimentel GO, Dos Santos MF, Honorio LDM, Mercorelli P, Da Silva MF, Moreira APGM. Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor. In Drotos D, Benotsmane R, Varga AK, Trohak A, Vasarhelyi J, editors, Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 315-320. (Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023). doi: 10.1109/ICCC57093.2023.10178948

Bibtex

@inbook{dcc08ccadf304da0af091489c5c01917,
title = "Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor",
abstract = "This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.",
keywords = "Hexacopter Tilt-Rotor, Over-actuated Vehicle, P-PID controller, Successive Loop Closure, Engineering",
author = "Pimentel, {Gabriel Oliveira} and {Dos Santos}, {Murillo Ferreira} and Honorio, {Leonardo de Mello} and Paolo Mercorelli and {Da Silva}, {Mathaus Ferreira} and Moreira, {Antonio Paulo Gomes Mendes}",
note = "Funding Information: ACKNOWLEDGMENT The authors would like to thank CEFET-MG, DAAD and Leuphana University of L{\"u}neburg for their financial support. Publisher Copyright: {\textcopyright} 2023 IEEE.; 24th International Carpathian Control Conference, ICCC 2023 ; Conference date: 12-05-2023 Through 14-05-2023",
year = "2023",
month = jun,
day = "12",
doi = "10.1109/ICCC57093.2023.10178948",
language = "English",
isbn = "979-8-3503-1023-8",
series = "Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "315--320",
editor = "Daniel Drotos and Rabab Benotsmane and Varga, {Attila Karoly} and Attila Trohak and Jozsef Vasarhelyi",
booktitle = "Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023",
address = "United States",

}

RIS

TY - CHAP

T1 - Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor

AU - Pimentel, Gabriel Oliveira

AU - Dos Santos, Murillo Ferreira

AU - Honorio, Leonardo de Mello

AU - Mercorelli, Paolo

AU - Da Silva, Mathaus Ferreira

AU - Moreira, Antonio Paulo Gomes Mendes

N1 - Conference code: 24

PY - 2023/6/12

Y1 - 2023/6/12

N2 - This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.

AB - This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.

KW - Hexacopter Tilt-Rotor

KW - Over-actuated Vehicle

KW - P-PID controller

KW - Successive Loop Closure

KW - Engineering

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U2 - 10.1109/ICCC57093.2023.10178948

DO - 10.1109/ICCC57093.2023.10178948

M3 - Article in conference proceedings

AN - SCOPUS:85166473264

SN - 979-8-3503-1023-8

T3 - Proceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023

SP - 315

EP - 320

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 -