Centralized predictive ceiling interaction control of quadrotor VTOL UAV
Unmanned aerial vehicle (UAV) applications have become increasingly vital, especially when human operators have limited access to the mission such as an inspection of a deep sewerage tunnel system. The problem arises when the UAV is deployed to perform a pre-defined operation, particularly in close...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Online Access: | https://hdl.handle.net/10356/142782 |
| _version_ | 1811687787004428288 |
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| author | Kocer, Basaran Bahadir Tjahjowidodo, Tegoeh Seet, Gerald Gim Lee |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Kocer, Basaran Bahadir Tjahjowidodo, Tegoeh Seet, Gerald Gim Lee |
| author_sort | Kocer, Basaran Bahadir |
| collection | NTU |
| description | Unmanned aerial vehicle (UAV) applications have become increasingly vital, especially when human operators have limited access to the mission such as an inspection of a deep sewerage tunnel system. The problem arises when the UAV is deployed to perform a pre-defined operation, particularly in close proximity to the environment. When the UAV flies within a few centimeters away from its surrounding environment, the ceiling effect problem might occur, which will affect the flight performance. This paper presents the utilization of a centralized predictive interaction control by leveraging an identified nonlinear model of a quadrotor UAV to mitigate the problem. In the first step, real-time data is collected for translational states of the system to identify its aerodynamic parameters. Secondly, a centralized predictive controller is applied to the system in real–time to compensate for the ceiling effect. Finally, the proposed approach is validated numerically and experimentally in free-flight and ceiling interaction phases. The results show that the optimization-based controller with a centralized algorithm is able to converge within 5 ms. |
| first_indexed | 2024-10-01T05:21:51Z |
| format | Journal Article |
| id | ntu-10356/142782 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:21:51Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1427822020-06-30T06:01:51Z Centralized predictive ceiling interaction control of quadrotor VTOL UAV Kocer, Basaran Bahadir Tjahjowidodo, Tegoeh Seet, Gerald Gim Lee School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Unmanned Aerial Vehicles Identification Unmanned aerial vehicle (UAV) applications have become increasingly vital, especially when human operators have limited access to the mission such as an inspection of a deep sewerage tunnel system. The problem arises when the UAV is deployed to perform a pre-defined operation, particularly in close proximity to the environment. When the UAV flies within a few centimeters away from its surrounding environment, the ceiling effect problem might occur, which will affect the flight performance. This paper presents the utilization of a centralized predictive interaction control by leveraging an identified nonlinear model of a quadrotor UAV to mitigate the problem. In the first step, real-time data is collected for translational states of the system to identify its aerodynamic parameters. Secondly, a centralized predictive controller is applied to the system in real–time to compensate for the ceiling effect. Finally, the proposed approach is validated numerically and experimentally in free-flight and ceiling interaction phases. The results show that the optimization-based controller with a centralized algorithm is able to converge within 5 ms. 2020-06-30T06:01:51Z 2020-06-30T06:01:51Z 2018 Journal Article Kocer, B. B., Tjahjowidodo, T., & Seet, G. G. L. (2018). Centralized predictive ceiling interaction control of quadrotor VTOL UAV. Aerospace Science and Technology, 76, 455-465. doi:10.1016/j.ast.2018.02.020 1270-9638 https://hdl.handle.net/10356/142782 10.1016/j.ast.2018.02.020 2-s2.0-85042878120 76 455 465 en Aerospace Science and Technology © 2018 Elsevier Masson SAS. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Unmanned Aerial Vehicles Identification Kocer, Basaran Bahadir Tjahjowidodo, Tegoeh Seet, Gerald Gim Lee Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title | Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title_full | Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title_fullStr | Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title_full_unstemmed | Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title_short | Centralized predictive ceiling interaction control of quadrotor VTOL UAV |
| title_sort | centralized predictive ceiling interaction control of quadrotor vtol uav |
| topic | Engineering::Mechanical engineering Unmanned Aerial Vehicles Identification |
| url | https://hdl.handle.net/10356/142782 |
| work_keys_str_mv | AT kocerbasaranbahadir centralizedpredictiveceilinginteractioncontrolofquadrotorvtoluav AT tjahjowidodotegoeh centralizedpredictiveceilinginteractioncontrolofquadrotorvtoluav AT seetgeraldgimlee centralizedpredictiveceilinginteractioncontrolofquadrotorvtoluav |