Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F22%3A10250674" target="_blank" >RIV/61989100:27240/22:10250674 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2504-446X/6/7/176" target="_blank" >https://www.mdpi.com/2504-446X/6/7/176</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/drones6070176" target="_blank" >10.3390/drones6070176</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection

Popis výsledku v původním jazyce

A biplane quadrotor is a hybrid type of UAV that has wide applications such as payload pickup and delivery, surveillance, etc. This simulation study mainly focuses on handling the total rotor failure, and for that, we propose a control architecture that does not only handle rotor failure but is also able to navigate the biplane quadrotor to a safe place for landing. In this structure, after the detection of total rotor failure, the biplane quadrotor will imitate reallocating control signals and then perform the transition maneuver and switch to the fixed-wing mode; control signals are also reallocated. A synthetic jet actuator (SJA) is used as the redundancy that generates the desired virtual deflection to control the pitch angle, while other states are taken care of by the three rotors. The SJA has parametric nonlinearity, and to handle it, an inverse adaptive compensation scheme is applied and a closed-loop stability analysis is performed based on the Lyapunov method for the pitch subsystem. The effectiveness of the proposed control structure is validated using numerical simulation carried out in the MATLAB Simulink.

Název v anglickém jazyce

Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection

Popis výsledku anglicky

A biplane quadrotor is a hybrid type of UAV that has wide applications such as payload pickup and delivery, surveillance, etc. This simulation study mainly focuses on handling the total rotor failure, and for that, we propose a control architecture that does not only handle rotor failure but is also able to navigate the biplane quadrotor to a safe place for landing. In this structure, after the detection of total rotor failure, the biplane quadrotor will imitate reallocating control signals and then perform the transition maneuver and switch to the fixed-wing mode; control signals are also reallocated. A synthetic jet actuator (SJA) is used as the redundancy that generates the desired virtual deflection to control the pitch angle, while other states are taken care of by the three rotors. The SJA has parametric nonlinearity, and to handle it, an inverse adaptive compensation scheme is applied and a closed-loop stability analysis is performed based on the Lyapunov method for the pitch subsystem. The effectiveness of the proposed control structure is validated using numerical simulation carried out in the MATLAB Simulink.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

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

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

Drones

ISSN

2504-446X

e-ISSN

2504-446X

Svazek periodika

6

Číslo periodika v rámci svazku

7

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

20

Strana od-do

nestrankovano

Kód UT WoS článku

000832346700001

EID výsledku v databázi Scopus

—