A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376526" target="_blank" >RIV/68407700:21230/24:00376526 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/LRA.2024.3433749" target="_blank" >https://doi.org/10.1109/LRA.2024.3433749</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2024.3433749" target="_blank" >10.1109/LRA.2024.3433749</a>

Result language

angličtina

Original language name

A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Original language description

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges for robust control of quadrotors. The most common approach is to approximate the mapping of rotor speed to thrust with a simple quadratic model. This model is known to fail under non-hovering flight conditions, introducing errors into the control pipeline. One of the approaches to modeling the aerodynamics around the propellers is the Blade Element Momentum Theory (BEMT). Here, we propose a novel BEMT-based closed-loop thrust estimator and control to eliminate the laborious calibration step of finding several aerodynamic coefficients. We aim to reuse known values as a baseline and fit the thrust estimate to values closest to the real ones with a simple test bench experiment, resulting in a single scaling value. A feedforward PID thrust control was implemented for each rotor, and the methods were validated by outdoor experiments with two multirotor UAV platforms: 250mm and 500mm. A statistical analysis of the results showed that the thrust estimation and control provided better robustness under aerodynamically varying flight conditions compared to the quadratic model.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Volume of the periodical

9

Issue of the periodical within the volume

10

Country of publishing house

US - UNITED STATES

Number of pages

8

Pages from-to

8889-8896

UT code for WoS article

001313351400003

EID of the result in the Scopus database

2-s2.0-85199577547