Journal
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
Volume 57, Issue 1, Pages 39-54Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAES.2020.3008575
Keywords
Mathematical model; Trajectory tracking; Propellers; Payloads; Uncertainty; Aircraft; Vehicle dynamics; Constrained feedback control synthesis; robust model reference adaptive control; sling payload; tilt-rotor quadcopter
Funding
- US Army Research Lab
- DARPA
- ONR [40304747, D18AP00069, N000141912422]
- U.S. Department of Defense (DOD) [N000141912422] Funding Source: U.S. Department of Defense (DOD)
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This article introduces an innovative control architecture for tilt-rotor quadcopters with H-configuration that can effectively handle unknown sling payloads. The control architecture is based on a thorough analysis of the aircraft's equation of motion and uses barrier Lyapunov functions and control laws to ensure user-defined constraints. Flight tests confirm the effectiveness of the theoretical results.
This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads. This control architecture leverages on a thorough analysis of the aircraft's equation of motion, which reveals gyroscopic effects that were not fully characterized and were disregarded while synthesizing control algorithms in prior publications. Furthermore, the proposed control architecture employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Flight tests involving a quadcopter pulling an unmodeled cart by means of a thin rope of unknown length, which is slack at the beginning of the mission, verify the effectiveness of the theoretical results.
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