Design and control of deformable quadrotor with varying length arms
Deformable quadrotors can manipulate their specific structure for specialized tasks or excellent flight performance under diverse conditions. With added deformation mechanism, the quadrotor exhibits higher flexibility; however, this is accompanied by difficulties in modeling analysis and controller...
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Published in | Science China. Technological sciences Vol. 66; no. 5; pp. 1225 - 1234 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
Beijing
Science China Press
01.05.2023
Springer Nature B.V |
Subjects | |
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Abstract | Deformable quadrotors can manipulate their specific structure for specialized tasks or excellent flight performance under diverse conditions. With added deformation mechanism, the quadrotor exhibits higher flexibility; however, this is accompanied by difficulties in modeling analysis and controller design, which are crucial issues. Here, a novel deformable quadrotor that can alter its arm’s length is designed by combining the crank-slider mechanism and cross-configuration. The dynamics, including the attitude and position systems, are analyzed and the former is further described as switched linear parameter varying (SLPV) systems from a control-oriented perspective. In addition, a combined SLPV/proportion-integration-differentiation (PID) attitude controller is developed to handle different deformable quadrotor modes, which guarantees the stability of the closed-loop attitude system during the deformation process and achieves attitude tracking. Furthermore, together with the cascade PID position controller, the entire flight controller is constructed whose feasibility is verified via fixed-point hovering and trajectory tracking experiments. |
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AbstractList | Deformable quadrotors can manipulate their specific structure for specialized tasks or excellent flight performance under diverse conditions. With added deformation mechanism, the quadrotor exhibits higher flexibility; however, this is accompanied by difficulties in modeling analysis and controller design, which are crucial issues. Here, a novel deformable quadrotor that can alter its arm’s length is designed by combining the crank-slider mechanism and cross-configuration. The dynamics, including the attitude and position systems, are analyzed and the former is further described as switched linear parameter varying (SLPV) systems from a control-oriented perspective. In addition, a combined SLPV/proportion-integration-differentiation (PID) attitude controller is developed to handle different deformable quadrotor modes, which guarantees the stability of the closed-loop attitude system during the deformation process and achieves attitude tracking. Furthermore, together with the cascade PID position controller, the entire flight controller is constructed whose feasibility is verified via fixed-point hovering and trajectory tracking experiments. |
Author | Xie, MingNa Li, YeHui Li, Zheng Ng, WingYin Sun, YiChong Zhang, Heng |
Author_xml | – sequence: 1 givenname: YiChong surname: Sun fullname: Sun, YiChong organization: Multi-Scale Medical Robotics Centre, The Chinese University of Hong Kong – sequence: 2 givenname: MingNa surname: Xie fullname: Xie, MingNa organization: College of Optoelectronic Engineering, Chongqing University – sequence: 3 givenname: YeHui surname: Li fullname: Li, YeHui organization: Department of Surgery, The Chinese University of Hong Kong – sequence: 4 givenname: WingYin surname: Ng fullname: Ng, WingYin organization: Department of Surgery, The Chinese University of Hong Kong – sequence: 5 givenname: Heng surname: Zhang fullname: Zhang, Heng organization: Department of Electrical and Electronic Engineering, The University of Hong Kong – sequence: 6 givenname: Zheng surname: Li fullname: Li, Zheng email: lizheng@cuhk.edu.hk organization: Multi-Scale Medical Robotics Centre, The Chinese University of Hong Kong, Department of Surgery, The Chinese University of Hong Kong |
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Keywords | specialized aerial system LPV systems switched control strategy mechanics and control deformable quadrotor |
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SubjectTerms | Attitude control Attitude stability Closed loops Control systems design Deformation mechanisms Engineering Flight characteristics Flight control systems Formability Hovering Proportional integral derivative Rotary wing aircraft Tracking |
Title | Design and control of deformable quadrotor with varying length arms |
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