Thrust Control for Multirotor Aerial Vehicles
Bangura, Moses; Mahony, Robert
Description
This paper presents a novel control algorithm to regulate the aerodynamic thrust produced by fixed-pitch rotors commonly used on small-scale electrically powered multirotor aerial vehicles. The proposed controller significantly improves on the disturbance rejection and gust tolerance of rotor thrust control compared to state-of-the-art RPM (revolutions per minute) rotor control schemes. The thrust modelling approach taken is based on a model of aerodynamic power generated by a...[Show more]
dc.contributor.author | Bangura, Moses | |
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dc.contributor.author | Mahony, Robert | |
dc.date.accessioned | 2017-01-05T04:28:20Z | |
dc.date.available | 2017-01-05T04:28:20Z | |
dc.identifier.issn | 1552-3098 | |
dc.identifier.uri | http://hdl.handle.net/1885/111477 | |
dc.description.abstract | This paper presents a novel control algorithm to regulate the aerodynamic thrust produced by fixed-pitch rotors commonly used on small-scale electrically powered multirotor aerial vehicles. The proposed controller significantly improves on the disturbance rejection and gust tolerance of rotor thrust control compared to state-of-the-art RPM (revolutions per minute) rotor control schemes. The thrust modelling approach taken is based on a model of aerodynamic power generated by a fixed- pitch rotor and computed in real-time on the embedded electronic speed controllers using measurements of electrical power and rotor angular velocity. Static and dynamic flight tests were carried out in downdrafts and updrafts of varying strengths to quantify the resulting improvement in maintaining a desired thrust setpoint. The performance of the proposed approach in flight conditions is demonstrated by a path tracking experiment where a quadrotor was flown through an artificial wind gust and the trajectory tracking error was measured. The proposed approach for thrust control demonstrably reduced tracking error compared to classical RPM rotor control. | |
dc.description.sponsorship | This research was supported by the Australian Research Council through Discovery Grant DP120100316 “Integrated High-Performance Control of Aerial Robots in Dynamic Environments” | |
dc.format | 16 pages | |
dc.format.mimetype | application/pdf | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | |
dc.rights | © IEEE. http://www.sherpa.ac.uk/romeo/issn/1552-3098/..."Author's post-print on Author's server or Institutional server" from SHERPA/RoMEO site (as at 6/01/17). The citation of this paper: Bangura, Moses and Mahony, Robert (2017) “Thrust Control for Multirotor Aerial Vehicles” IEEE Transactions on Robotics, Vol. 33(2), p. 1-16 | |
dc.source | IEEE Transactions on Robotics | |
dc.title | Thrust Control for Multirotor Aerial Vehicles | |
dc.type | Journal article | |
local.identifier.citationvolume | 33 | |
dcterms.dateAccepted | 2016-09-27 | |
dc.date.issued | 2017-03 | |
local.publisher.url | http://www.ieee.org/index.html | |
local.type.status | Accepted Version | |
local.contributor.affiliation | Moses Bangura, College of Engineering and Computer Science, The Australian National University | |
local.contributor.affiliation | Mahony, R., College of Engineering and Computer Science, The Australian National University | |
dc.relation | http://purl.org/au-research/grants/arc/DP120100316 | |
local.bibliographicCitation.issue | 2 | |
dcterms.accessRights | Open Access | |
dcterms.accessRights | Open Access | |
Collections | ANU Research Publications |
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File | Description | Size | Format | Image |
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01_Bangura_Thrust_Constant_2017.pdf | 3.37 MB | Adobe PDF |
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