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Title: Centralized predictive ceiling interaction control of quadrotor VTOL UAV
Authors: Kocer, Basaran Bahadir
Tjahjowidodo, Tegoeh
Seet, Gerald Gim Lee
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Kocer, 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.2018.02.020
Journal: Aerospace Science and Technology
Abstract: Unmanned 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.
ISSN: 1270-9638
DOI: 10.1016/j.ast.2018.02.020
Rights: © 2018 Elsevier Masson SAS. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
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