Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-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/works › Article in conference proceedings › Research › peer-review
Harvard
APA
Vancouver
Bibtex
}
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
UR - http://www.scopus.com/inward/record.url?scp=85166473264&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/757bac70-83bb-3323-8c73-219b8e483da0/
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 -