Frequency-Domain Estimation of a Transfer Matrix of an Uncommon Quadrotor in Hover

Date

2022-07-01

Author

Baskin, Mehmet
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

160
views

0
downloads

In this article, system identification of an uncommon quadrotor in hover is discussed. Two counter-rotating big rotors on the longitudinal axis and two counter-rotating small tilt rotors on the lateral axis form this quadrotor configuration. First, the nonlinear dynamic model of this vehicle is derived from Newton-Euler formulation. Next, using the approximate linear hover model and the suitable rotor mixing matrix for axes decoupling, simplified attitude dynamics of this quadrotor are obtained. However, the effects of sensor delays, flexible modes of the airframe, and inexact decoupling are not visible in this diagonal model, which is mainly based on physical principles. Therefore, a system identification method is used to obtain a more accurate model, which is required for control design. Hence, during parametric identification of nominal model coprime factors, a small robust control criterion is targeted. Then, the frequency response function of the proposed quadrotor prototype in hover is obtained. Next, the linear parametric model of the vehicle is estimated by solving optimally conditioned least squares and subsequent Gauss-Newton problems. After that, using validation-based uncertainty quantification, the uncertain model set is constructed around the estimated coprime factors. The resulting model set and its robust control relevance are depicted.

Subject Keywords

Rotors, Uncertainty, Vehicle dynamics, Robust control, Atmospheric modeling, Helicopters, Estimation, Attitude control, flight control, model validation, multirotors, robust control, system identification, SYSTEM-IDENTIFICATION, ROBUST-CONTROL

URI

https://hdl.handle.net/11511/100021

Journal

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

DOI

https://doi.org/10.1109/tcst.2022.3185936

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Flight control system design of an uncommon quadrotor aerial vehicle Baskın, Mehmet; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2021-9-01) In this thesis, design of a flight control system for an uncommon quadrotor aerial vehicle is discussed. This aerial vehicle consists of two counter-rotating big rotors on longitudinal axis to increase the lift capacity and flight endurance, and two counter-rotating small tilt rotors on lateral axis to stabilize the attitude. Firstly, full nonlinear dynamic model of this vehicle is obtained by using Newton-Euler formulation. Later, derived approximate linear model around hover is statically decoupled to sim...
Evaluation of rotorcraft system identification approaches Kaymak, Serkan; Tekinalp, Ozan; Kutay, Ali Türker; Department of Aerospace Engineering (2013) This thesis addresses rotorcraft system identification approaches and estimating the stability and control parameters for linear system identification of a helicopter in hover. Output error and least square methods are used for the system identification. Inputs of the system identification analysis are obtained from the nonlinear helicopter model written in FLIGHTLAB commercial software environment. A linear helicopter model is used for identification. For validation, results obtained from identified helico...
GPS based altitude control of an unmanned air vehicle using digital terrain elevation data Ataç, Selçuk; Platin, Bülent Emre; Department of Mechanical Engineering (2006) In this thesis, an unmanned air vehicle (UAV) is used to develop a prototype base test platform for flight testing of new control algorithms and avionics for advanced UAV system development applications. A control system that holds the UAV at a fixed altitude above the ground is designed and flight tested. Only the longitudinal motion of the UAV is considered during the controller design, hence its lateral motions are controlled manually by a remote control unit from the ground. UAV’s altitude with respect ...
Data-Driven Model Discovery and Control of Lateral-Directional Fighter Aircraft Dynamics Öznurlu, Can; Uğur, Ömür; Çimen, Tayfun; Department of Scientific Computing (2022-8-26) The focus of this thesis is to control the lateral-directional motion of the fighter aircraft by using integral action based Model Predictive Control (MPC) where the model is obtained by data-driven model discovery method. Dynamic Mode Decomposition with Control (DMDc) is used as a model discovery technique based only on measurement data with no modeling assumptions. The model created using this technique is used for MPC and tested against noisy conditions. In addition, performance comparison of MPC with Cl...
UKF based in-flight calibration of magnetometers and rate gyros for pico satellite attitude determination Söken, Halil Ersin (Wiley, 2012-05-01) In this paper an unscented Kalman filter based procedure for the bias estimation of both the magnetometers and the gyros carried onboard a pico satellite, is proposed. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During the initial period after the orbit injection, gyro measurements are accepted as bias free since the precise gyros are working accurately and the accumulated gyro biases are negligible. At t...

Citation Formats

M. Baskin and M. K. Leblebicioğlu, “Frequency-Domain Estimation of a Transfer Matrix of an Uncommon Quadrotor in Hover,” IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, pp. 0–0, 2022, Accessed: 00, 2022. [Online]. Available: https://hdl.handle.net/11511/100021.