Backstepping Control for a Tandem Rotor UAV Robot with Two 2-DOF Tiltable Coaxial Rotors
Abstract
The study of a fully actuated multi-rotor UAV robot is very important in the field of infrastructure inspection because it needs a dexterous motion, such as hovering in a special fixed attitude, etc. This paper presents a backstepping control method for a simplified fully actuated model of a tandem-rotor UAV robot with two 2-DOF tiltable coaxial rotors. A MIMO vectorial backstepping approach is adopted here because the input distribution matrix is a square and nonsingular matrix. The two-stage control method based on the Lyapunov second method is presented to stabilize the position and attitude of the whole system. The static control allocation problem is also solved by using a Moore-Penrose pseudo-inverse. Finally, two simulations are demonstrated to verify the performance of the proposed control method, where one is a stabilizing problem in which all the desired position and attitude are to be constant, whereas the other is a trajectory tracking problem in which the desired positions are time-varying while the desired attitudes are to be constant.
Keywords
Full Text:
PDFReferences
H. Menouar, I. Guvenc, K. Akkaya, A. S. Uluagac, A. Kadri and A. Tuncer, “UAV-enabled intelligent transportation systems for the smart city: Applications and challenges,” IEEE Commun. Mag., vol. 55, no. 3, pp. 22–28, 2017.
M.R. Haque, M. Muhammad, D. Swarnaker, M. Arifuzzaman, “Autonomous quadcopter for product home delivery,” in Proc. of International Conference on Electrical Engineering and Information & Communication Technology (ICEEICT), 2014.
K.T. San, E.Y. Lee, Y.S. Chang, “The delivery assignment solution for swarms of UAVs dealing with multi-dimensional chromosome representation of genetic algorithm,” in Proc. of Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON), IEEE Annual, 2016.
T. Tomic, K. Schmid, P. Lutz, A. Domel, M. Kassecher, E. Mair, I. L. Grixa, F. Ruess, M. Suppa, D. Burschka, “Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue,” IEEE Robotics and Automation Magazine, vol. 19, no. 3, pp. 46–56, 2012.
J. Scherer, S. Yahyanejad, S. Hayat, E. Yanmaz, T. Andre, A. Khan, et al., “An autonomous multi-UAV system for search and rescue,” in Proc. of Intern. Conf. Mobile Systems Applications and Services, pp. 1–6, 2015.
A. Al-Kaff, F. M. Moreno, L. J. San José, F. García, D. Martín, A. De La Escalera, et al., “Vbii-uav: Vision-based infrastructure inspection-uav,” in Proc. of World Conference on Information Systems and Technologies WorldCist'17, pp. 221–231, 2017.
M. Nakao, M. Ito, Y. Kutuna, M. Yamada, M. Yamada and Y. Hada, “Development of a bridge inspection support robot system that uses a two-wheeled quad-rotor helicopter,” in Proc. of East Asia-Pacific Conference on Structural Engineering and Construction, pp. 293–301, 2016.
C. Zhang and J. M. Kovacs, “The application of small unmanned aerial systems for precision agriculture: A review,” Precis. Agricult., vol. 13, no. 6, pp. 693–712, 2012.
S. Khanal, J. Fulton and S. Shearer, “An overview of current and potential applications of thermal remote sensing in precision agriculture,” Comput. Electron. Agricult., vol. 139, pp. 22–32, 2017.
K. Whitehead, B. J. Moorman and C. H. Hugenholtz, “Low-cost on-demand aerial photogrammetry for glaciological measurement,” Cryosphere Discuss., vol. 7, no. 3, pp. 1879-1884, 2013.
Turner, D., Lucieer, A. and Wallace, L. (2013), “Direct georeferencing of ultrahigh-resolution UAV imagery,” IEEE Transactions on Geoscience and Remote Sensing, available online doi: 10.1109/TGRS.2013.2265295. https://doi.org/10.1109/TGRS.2013.2265295
C.H. Hugenholtz, K. Whitehead, O.W. Brown, T.E. Barchyn, B.J. Moorman, A. LeClair, K. Riddell, T. Hamilton, “Geomorphological mapping with a small unmanned aircraft system (sUAS): Feature detection and accuracy assessment of a photogrammetrically-derived digital terrain model,” Geomorphology, vol. 194, pp. 16-24, 2013.
H.C.T.E. Fernando, A. Silva, M. Zoysa and R. Munasinghe, “Modelling simulation and implementation of a quadrotor UAV,” in Proc. of IEEE International Conference on Industrial and Information Systems, pp. 207–212, 2013.
R. Rashad, J. Goerres, R. G. Aarts, J. B. Engelen, and S. Stramigioli, “Fully actuated multirotor UAVs: A literature review,” IEEE Robot. Automat. Mag., doi: 10.1109/MRA.2019.2955964.
M. Hamandi, F. Usai, Q. Sable, N. Staub, M. Tognon, and A. Franchi, “Survey on aerial multirotor design: a taxonomy based on input allocation,” Jan. 2020, working paper or preprint. [Online]. Available: https://hal.archives-ouvertes.fr/hal-02433405
K. Bodie, Z. Taylor, M. Kamel and R. Siegwart, “Towards efficient full pose omnidirectionality with overactuated MAVS,” 2018, [online] Available: https://arxiv.org/abs/1810.06258.
S. Rajappa, M. Ryll, H. H. Bülthoff and A. Franchi, “Modeling control and design optimization for a fully-actuated hexarotor aerial vehicle with tilted propellers,” in Proc. of 2015 IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4006–4013, 2015.
Y. Tadokoro, T. Ibuki, and M. Sampei, “Classification and structural evaluation of fully-actuated hexrotor UAVs,” in Proc. Annu. Amer. Control Conf. (ACC), pp. 1945–1950, 2018.
G. Jiang, R. Voyles, K. Sebesta, and H. Greiner, “Estimation and optimization of fully-actuated multirotor platform with nonparallel actuation mechanism,” in Proc. 2017 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 6843–6848. doi: 10.1109/IROS.2017.8206605.
A. Franchi, R. Carli, D. Bicego and M. Ryll, “Full-pose tracking control for aerial robotic systems with laterally bounded input force,” IEEE Trans. Robot., vol. 34, no. 2, pp. 534–541, 2018.
M. Allenspach, K. Bodie, M. Brunner, L. Rinsoz, Z. Taylor, M.Kamel, R. Siegwart and J. Nieto, “Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight,” arXiv preprint arXiv:2003.09512.
P. Segui-Gasco, Y. Al-Rihani, H.S. Shin, and A. Savvaris, “A novel actuation concept for a multi rotor UAV,” Journal of Intelligent & Robotic Systems, vol. 74, no. 1-2, pp.173–191, 2014.
X. Xu, K. Watanabe, and I. Nagai, “Development of an UAV robot that has multifunctional locomotion modes with tilted coaxial rotors,” in Proc. of 2018 37th Chinese Control Conference (CCC). Wuhan, pp. 7896–7900, 2018.
A. Bin Junaid, A. Diaz De Cerio Sanchez, J. Betancor Bosch, N. Vitzilaios, and Y. Zweiri, “Design and implementation of a dual-axis tilting quadcopter,” Robotics, vol. 7, no. 4, pp. 65, 2018.
M.J. Gerber, T. Tsao, “Twisting and tilting rotors for high-efficiency, thrust-vectored quadrotors,” Journal of Mechanisms and Robotics, vol. 10, no. 6, pp. 061013, 2018.
N. Amiri, A. Ramirez-Serrano, and R.J. Davies, “Integral backstepping control of an unconventional dual-fan unmanned aerial vehicle,” J Intell Robot Syst, vol. 69, pp. 147–159, 2013.
R. Mokhtari, C. Braham, B. Cherki, “Extended state observer based control for coaxial-rotor UAV,” ISA Transactions, vol 61, pp. 1–14, 2014.
J. Buzzatto, M. Liarokapis, “An agile, coaxial, omnidirectional rotor module: on the development of hybrid, all terrain robotic rotorcrafts,” in Proc. of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, 2020, unpublished.
X. Xu, K. Watanabe and I. Nagai, “Feedback linearization control for a tandem rotor UAV robot equipped with two 2-DOF tiltable coaxial-rotors,” Artif Life Robotics (2020). https://doi.org/10.1007/s10015-020-00655-x.
M. Kamel, S. Verling, O. Elkhatib, C. Sprecher, P. Wulkop, Z. Taylor, R. Siegwart, and I. Gilitschenski, “The voliro omniorientational hexacopter: An agile and maneuverable tiltable-rotor aerial vehicle,” IEEE Robotics & Automation Magazine, vol. 25, no. 4, pp. 34–44, 2018.
B. Li, D. Wang and L. Ma, “BioTetra: a bioinspired multi-rotor aerial vehicle,” in Proc. of IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), Dali, China, pp. 114–119, 2019.
L. Zhou, J. Zhang, H. She and H. Jin, “Quadrotor UAV flight control via a novel saturation integral backstepping controller,” Automatika, vol. 60, no. 2, pp. 193–206, 2019.
T. I. Fossen and J. P. Strand, “A tutorial on nonlinear backstepping: Applications to ship control,” Model. Identification Contr., vol. 20, no. 2, pp. 83–135, 1999, [online] Available: http://www.mic-journal.no/micarchives.asp.
DOI: https://doi.org/10.18196/jrc.25116
Refbacks
- There are currently no refbacks.
Copyright (c) 2020 Journal of Robotics and Control (JRC)
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Journal of Robotics and Control (JRC)
P-ISSN: 2715-5056 || E-ISSN: 2715-5072
Organized by Peneliti Teknologi Teknik Indonesia
Published by Universitas Muhammadiyah Yogyakarta in collaboration with Peneliti Teknologi Teknik Indonesia, Indonesia and the Department of Electrical Engineering
Website: http://journal.umy.ac.id/index.php/jrc
Email: jrcofumy@gmail.com