Nonlinear control allocation applied on a QTR: the influence of the frequency variation

Research output: Contributions to collected editions/worksChapterpeer-review

Authors

  • Murillo Ferreira dos Santos
  • Leonardo de Mello Honório
  • Mathaus Ferreira da Silva
  • Vinícius Ferreira Vidal
  • Paolo Mercorelli

In this chapter, we study the influence of the frequency variation of a nonlinear control allocation technique execution, developed by the author [1], named Fast Control Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The Loop (SITL) simulation, we consider the use of Gazebo, QGroundControl, and Matlab® applications, where different frequencies of the FCA can be implemented separately in Matlab, always analyzing the QTR stability conditions from the virtual environment performed in Gazebo. The results showed that the FCA needs at least 200Hz of frequency for the QTR safe flight conditions, i.e., 2 times smaller than the main control loop frequency, 400Hz. Lower frequencies would cause instability or crashes during the QTR operation.

Original languageEnglish
Title of host publicationModeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
EditorsPaolo Mercorelli, Weicun Zhang, Hamidreza Nemati, YuMing Zhang
Number of pages15
PublisherElsevier
Publication date01.01.2024
Pages311-325
ISBN (print)9780323952088
ISBN (electronic)9780323952071
DOIs
Publication statusPublished - 01.01.2024

Bibliographical note

Publisher Copyright:
© 2024 Elsevier Inc. All rights reserved.

    Research areas

  • Nonlinear control allocation, Over-actuated unmanned aerial vehicle, Software in the loop, Threshold time
  • Engineering