Modeling and Control of a Telescopic Quadrotor Using Disturbance Observer Based Control

Morphing multirotors are characterized by the capability to modify their shape during the flight, in order to negotiate narrow gaps without the need for miniaturization, thus preserving flight time and payload. In this paper, we propose a mathematical model for a morphing quadrotor characterized by...

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Bibliographic Details
Published in2022 30th Mediterranean Conference on Control and Automation (MED) pp. 396 - 402
Main Authors Baldini, Alessandro, Felicetti, Riccardo, Freddi, Alessandro, Longhi, Sauro, Monteriu, Andrea
Format Conference Proceeding
LanguageEnglish
Published IEEE 28.06.2022
Subjects
Disturbance observers
Numerical simulation
Optimal control
Shape
Simulation
Time invariant systems
Tracking
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Summary:Morphing multirotors are characterized by the capability to modify their shape during the flight, in order to negotiate narrow gaps without the need for miniaturization, thus preserving flight time and payload. In this paper, we propose a mathematical model for a morphing quadrotor characterized by telescopic arms: as extendable arms move, the center of mass position changes, as well as the inertia of the vehicle. Then, we address the tracking control problem of the telescopic quadrotor under external additive disturbances (e.g., wind), following the disturbance observer based control approach. The control scheme consists in an inner/outer loop structure, where both loops interact with a nonlinear disturbance observer. Closed loop performances are analyzed and the control scheme is validated through a realistic numerical simulation.
ISSN:2473-3504
DOI:10.1109/MED54222.2022.9837197