Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor
Autor(a) principal: | |
---|---|
Data de Publicação: | 2023 |
Outros Autores: | , , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10198/29223 |
Resumo: | To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)- Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems. |
id |
RCAP_7a215efaf5de7fb0f085eb89a0b6c5c5 |
---|---|
oai_identifier_str |
oai:bibliotecadigital.ipb.pt:10198/29223 |
network_acronym_str |
RCAP |
network_name_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository_id_str |
7160 |
spelling |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-RotorP-PID controlleroveractuated vehicleMIMO cascade controllerTo map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)- Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems.The authors would like to thank CEFET-MG and Leuphana University of L¨uneburg for their financial support.IEEEBiblioteca Digital do IPBSantos, Murillo F. dosHonório, Leonardo de MelloSilva, Mathaus F. daSilva, William R.Lima, JoséMercorelli, PaoloCarmo, Marlon José do2024-01-15T17:31:35Z20232023-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/29223engSantos, Murillo F. dos; Honório, Leonardo de Mello; Silva, Mathaus F. da; Silva, William R.; Lima, José; Mercorelli, Paolo; Carmo, Marlon José do (2023). Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor. In 24th International Carpathian Control Conference (ICCC). 12-14 June 2023, Miskolc-Szilvásvárad. p. 135-140. ISBN 979-8-3503-1022-1979-8-3503-1022-110.1109/ICCC57093.2023.10178963info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-01-17T01:21:44Zoai:bibliotecadigital.ipb.pt:10198/29223Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T01:44:49.727233Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
title |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
spellingShingle |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor Santos, Murillo F. dos P-PID controller overactuated vehicle MIMO cascade controller |
title_short |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
title_full |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
title_fullStr |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
title_full_unstemmed |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
title_sort |
Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor |
author |
Santos, Murillo F. dos |
author_facet |
Santos, Murillo F. dos Honório, Leonardo de Mello Silva, Mathaus F. da Silva, William R. Lima, José Mercorelli, Paolo Carmo, Marlon José do |
author_role |
author |
author2 |
Honório, Leonardo de Mello Silva, Mathaus F. da Silva, William R. Lima, José Mercorelli, Paolo Carmo, Marlon José do |
author2_role |
author author author author author author |
dc.contributor.none.fl_str_mv |
Biblioteca Digital do IPB |
dc.contributor.author.fl_str_mv |
Santos, Murillo F. dos Honório, Leonardo de Mello Silva, Mathaus F. da Silva, William R. Lima, José Mercorelli, Paolo Carmo, Marlon José do |
dc.subject.por.fl_str_mv |
P-PID controller overactuated vehicle MIMO cascade controller |
topic |
P-PID controller overactuated vehicle MIMO cascade controller |
description |
To map the Virtual Control Actions (VCAs) into Real Control Actions (RCAs), over-actuated systems typically require nonlinear control allocation methods. On embedded robotic platforms, computational efforts are not always available. With this in mind, this work presents the design of a Quadrotor Tilt-Rotor (QTR) through a new concept of control allocation with uncoupled RCAs, where a nonlinear system is divided into partially dependent and linear subsystems with fast and robust convergence. The RCAs are divided into smaller and linearized sets and solved sequentially. Then, the cascade Multipe-Input-Multipe-Output (MIMO) Proportional (P)- Proportional, Integral and Derivative (PID) controllers tuning were presented with saturation constants and successive loop closure technique, where some open-field environment tests were conducted to validate the respective tuning. In the end, it showed to be reliable, robust, efficient, and applicable when VCAs are overlapped between the subsystems. |
publishDate |
2023 |
dc.date.none.fl_str_mv |
2023 2023-01-01T00:00:00Z 2024-01-15T17:31:35Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10198/29223 |
url |
http://hdl.handle.net/10198/29223 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Santos, Murillo F. dos; Honório, Leonardo de Mello; Silva, Mathaus F. da; Silva, William R.; Lima, José; Mercorelli, Paolo; Carmo, Marlon José do (2023). Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor. In 24th International Carpathian Control Conference (ICCC). 12-14 June 2023, Miskolc-Szilvásvárad. p. 135-140. ISBN 979-8-3503-1022-1 979-8-3503-1022-1 10.1109/ICCC57093.2023.10178963 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
IEEE |
publisher.none.fl_str_mv |
IEEE |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799136944257499136 |