Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/142782
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dc.contributor.authorKocer, Basaran Bahadiren_US
dc.contributor.authorTjahjowidodo, Tegoehen_US
dc.contributor.authorSeet, Gerald Gim Leeen_US
dc.date.accessioned2020-06-30T06:01:51Z-
dc.date.available2020-06-30T06:01:51Z-
dc.date.issued2018-
dc.identifier.citationKocer, B. B., Tjahjowidodo, T., & Seet, G. G. L. (2018). Centralized predictive ceiling interaction control of quadrotor VTOL UAV. Aerospace Science and Technology, 76, 455-465. doi:10.1016/j.ast.2018.02.020en_US
dc.identifier.issn1270-9638en_US
dc.identifier.urihttps://hdl.handle.net/10356/142782-
dc.description.abstractUnmanned aerial vehicle (UAV) applications have become increasingly vital, especially when human operators have limited access to the mission such as an inspection of a deep sewerage tunnel system. The problem arises when the UAV is deployed to perform a pre-defined operation, particularly in close proximity to the environment. When the UAV flies within a few centimeters away from its surrounding environment, the ceiling effect problem might occur, which will affect the flight performance. This paper presents the utilization of a centralized predictive interaction control by leveraging an identified nonlinear model of a quadrotor UAV to mitigate the problem. In the first step, real-time data is collected for translational states of the system to identify its aerodynamic parameters. Secondly, a centralized predictive controller is applied to the system in real–time to compensate for the ceiling effect. Finally, the proposed approach is validated numerically and experimentally in free-flight and ceiling interaction phases. The results show that the optimization-based controller with a centralized algorithm is able to converge within 5 ms.en_US
dc.language.isoenen_US
dc.relation.ispartofAerospace Science and Technologyen_US
dc.rights© 2018 Elsevier Masson SAS. All rights reserved.en_US
dc.subjectEngineering::Mechanical engineeringen_US
dc.titleCentralized predictive ceiling interaction control of quadrotor VTOL UAVen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.identifier.doi10.1016/j.ast.2018.02.020-
dc.identifier.scopus2-s2.0-85042878120-
dc.identifier.volume76en_US
dc.identifier.spage455en_US
dc.identifier.epage465en_US
dc.subject.keywordsUnmanned Aerial Vehiclesen_US
dc.subject.keywordsIdentificationen_US
item.grantfulltextnone-
item.fulltextNo Fulltext-
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