Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System
A cooperative transportation system (CTS) composed of two multirotors has been developed to facilitate the cooperative transportation of a payload, even in the presence of defective motors. The reduced thrust generated by the faulty motors may cause greater tracking errors, making it challenging to...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10100682/ |
| _version_ | 1797844375138467840 |
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| author | Chia-Cheng Chang Teng-Hu Cheng |
| author_facet | Chia-Cheng Chang Teng-Hu Cheng |
| author_sort | Chia-Cheng Chang |
| collection | DOAJ |
| description | A cooperative transportation system (CTS) composed of two multirotors has been developed to facilitate the cooperative transportation of a payload, even in the presence of defective motors. The reduced thrust generated by the faulty motors may cause greater tracking errors, making it challenging to control and estimate the system. Moreover, the reduced thrust can also act as a disturbance to the other UAV, further exacerbating the problem. To address these issues, the motor thrust is reconfigured using an efficiency estimator based on an unscented Kalman filter (UKF). This estimator increases the thrust of the defective motors, thus improving the system’s performance. The CTS achieves trajectory tracking despite the defective motors by using a geometric controller that incorporates the motor-efficiency estimator. A stability analysis has been conducted to prove the stability of the tracking errors. The estimation and control performances have been verified through simulations. |
| first_indexed | 2024-04-09T17:21:23Z |
| format | Article |
| id | doaj.art-45eeb8a351fe4dd681c5afbba8b5f703 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T17:21:23Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-45eeb8a351fe4dd681c5afbba8b5f7032023-04-18T23:00:28ZengIEEEIEEE Access2169-35362023-01-0111365663657810.1109/ACCESS.2023.326651010100682Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation SystemChia-Cheng Chang0Teng-Hu Cheng1https://orcid.org/0000-0002-1451-3937Department of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanDepartment of Mechanical Engineering, National Yang Ming Chiao Tung University, Hsinchu, TaiwanA cooperative transportation system (CTS) composed of two multirotors has been developed to facilitate the cooperative transportation of a payload, even in the presence of defective motors. The reduced thrust generated by the faulty motors may cause greater tracking errors, making it challenging to control and estimate the system. Moreover, the reduced thrust can also act as a disturbance to the other UAV, further exacerbating the problem. To address these issues, the motor thrust is reconfigured using an efficiency estimator based on an unscented Kalman filter (UKF). This estimator increases the thrust of the defective motors, thus improving the system’s performance. The CTS achieves trajectory tracking despite the defective motors by using a geometric controller that incorporates the motor-efficiency estimator. A stability analysis has been conducted to prove the stability of the tracking errors. The estimation and control performances have been verified through simulations.https://ieeexplore.ieee.org/document/10100682/Multirotor unmanned aerial vehiclefault-tolerant control of a multirotorgeometric-tracking controllerparameter estimationunscented Kalman filter |
| spellingShingle | Chia-Cheng Chang Teng-Hu Cheng Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System IEEE Access Multirotor unmanned aerial vehicle fault-tolerant control of a multirotor geometric-tracking controller parameter estimation unscented Kalman filter |
| title | Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System |
| title_full | Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System |
| title_fullStr | Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System |
| title_full_unstemmed | Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System |
| title_short | Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System |
| title_sort | motor efficiency estimation and control of multirotors comprising a cooperative transportation system |
| topic | Multirotor unmanned aerial vehicle fault-tolerant control of a multirotor geometric-tracking controller parameter estimation unscented Kalman filter |
| url | https://ieeexplore.ieee.org/document/10100682/ |
| work_keys_str_mv | AT chiachengchang motorefficiencyestimationandcontrolofmultirotorscomprisingacooperativetransportationsystem AT tenghucheng motorefficiencyestimationandcontrolofmultirotorscomprisingacooperativetransportationsystem |