Conference PaperPDF Available

LQG-I Control for Attitude Stabilization of V8 Octorotor Flying Robot

April 2016

DOI:10.1109/RIOS.2016.7529506

Conference: Artificial Intelligence and Robotics (IRANOPEN), 2016, IEEE
At: Qazvin Islamic Azad University

Authors:

Parichehr Shahidi Sadeghi

University of Rostock

Alireza Mohammad Shahri

Iran University of Science and Technology

Mahdi Alinaghizadeh Ardestani

Technical and Vocational University

Small aerial vehicles have gained strategic importance in many urban applications such as aerial photography. V8 configuration is a multirotor design hardly investigated in the field of flying robots. Dynamical model of V8 octorotor is derived and linearized using small perturbations method. Validity of linearization is proved through comparison with nonlinear behavior. Linear quadratic Gaussian control approach together with an integral action is designed to stabilize octorotor attitude angles. Control performance is compared with PID and LQR methods which indicated proposed controller provides better results while maintaining efficient energy usage.

Earth-fixed and body-fixed frames

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Comparison between closed loop linear and nonlinear systems Also, outputs of open loop linear and nonlinear systems with sinusoidal inputs are compared and shown in Fig. 4.

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State feedback scheme LQR problem is defmed as finding the controller that makes the following criteria as small as possible

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Block diagram of system and control scheme V. CONTROLLER OESGIN

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SIMORGH™ [14] VS octorotor platform

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Figures - uploaded by Mahdi Alinaghizadeh Ardestani

Content may be subject to copyright.

Content uploaded by Mahdi Alinaghizadeh Ardestani

Content may be subject to copyright.

  





 



























 Small aerial vehicles have gained strategic

importance in many urban applications such as aerial

photography. V8 conguration is a multirotor design hardly

investigated in the eld of ying robots. Dynamical model of

V8 octorotor is derived and linearized using small

perturbations method. Validity of linearization is proved

through comparison with nonlinear behavior. Linear

quadratic Gaussian control approach together with an integral

action is designed to stabilize octorotor attitude angles. Control

performance is compared with PID and LQR methods which

indicated proposed controller provides better results while

maintaining efficient energy usage.





 



 

       

      



 

      

      



     

   

    

        



   

       



       

         

       



    





      



         

        

       

 





         

      

       

      

        



 

        

       

       

     

 

         





        



  

      



   

        

       

 

 

   

   

   

   

   

   

 

 

          

      

       

   

       

  

        



 

       

     



 

    

  

     



      

     



















 

         

      

   















       

    













 





 

 



 





          

 



 

 

 

 









       

      

       





    

      

  





 























 







 

         

           

  

        

        





        

 











    

 





      

    

   

        



 

     

      

        

       

         

      



 

      

        



       

        

       

        

 

















       



 

  

      

      

      



         

   

 

      









































 











         

          

       



     

     

     

     

     

     

  

  

    

  

  

  

     

       

     

 

 

       



      







  

  

















 

 

 





















 

  



 



   

 

 







 

 







        

 

 

  



 

         

 

        



 

 

   

  



  





 

  



 

        



  







   



     

    

  

       



  



   

 



 

 

      

   







 

        





  

        





 

       

 

       

      





  

       

         

        

     







        

     

  

  

  





 



 

          

 

         

 











 

 

      

       

        



 

      

      

  

  

 

        

    



  



       

         



       

         





 





 

   

  

  

 

       

    

       

       

        

       

        





      



     

     

      

     

     

     

 



 

 

 



       

 

    

       

  



 

      

       

         

          

    



        

  



   

 









  

    







  





    















    











    

 



   

     





































 



 





 

   

    

   

   

        

      

  

            

        





       







     







      

 







    

       

 







     

     





   









     



  



 





         



  

     



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













 

 



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

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



    



 



 







       

 

       

      

      

    

      

      



       

       

         

        

       

  

        



       

     

 





   

           

        

       



          

     

  

  

   

            

  

   

      

     

 

           

        

       



            

   



 



       

     

        

 

        

      



 

  

  



Aerodynamic Performance of V8 Octorotor MAV with Different Rotor Configurations in Hover

Article

Full-text available

Mar 2023

A new multirotor aerial vehicle with two rotor arms formed in a V-shape configuration is introduced in this paper. To figure out the aerodynamic interference effects between rotors as an implication of the control method, this paper discusses the aerodynamic performance of the V8 Octorotor MAV with different rotor spacing using both experiments and simulations. A hovering experiment platform is applied to obtain the thrust, power consumption and rotational speed. PL (power loading) is promoted to characterize the aerodynamic performance of the V8 Octorotor MAV. The velocity vector, streamline and turbulent vortices’ distribution of the V8 Octorotor MAV are presented as the simulation results, which indicates that turbulence intensity generated by the MAV dissipates faster in a large rotor spacing. Therefore, rotor vibration is reduced with an increased hovering stability, and the power loading is much improved at G3 (1.2D–1.4D–1.6D–1.8D) with a better aerodynamic performance both with a thrust increment and power decrement.

An Adaptive Sliding Mode Actuator Fault Tolerant Control Scheme for Octorotor System

Article

Full-text available

Mar 2019

In this article, an adaptive sliding mode control is used in the framework of fault tolerant control to mitigate the effects of actuator faults without requiring the actuator health information. Since unmanned aerial vehicles are being used in multiple fields such as military, surveillance, media, agriculture, communication and trading sector, therefore it is of vital importance to overcome the effects of actuator faults that can decline system performance and can even lead to some serious accidents. The proposed adaptive sliding mode control approach can handle actuator faults directly without requiring any faults information and adaptively adjusts controller gains to maintain acceptable level of performance. To validate the effectiveness of the proposed adaptive fault tolerant control scheme, it has been tested in simulations using non-linear Benchmark model of Octorotor system and its performance is compared with the optimal LQR control approach.

Başkalaşımın Octorotor Boylamasına Uçuşuna EtkisiEffect of Morphing on Octorotor Longitudinal Flight

Article

Apr 2023

Oğuz Köse

İnsansız hava araçları(İHA) son yıllarda popülerliği artan hava araçları olarak endüstriyel ve bilimsel çevrede dikkatleri üzerine çekmektedir. İHA’lar üzerinde bulundurduğu rotor sayısana göre isimlendirilir. Bu çalışmada döner kanat kategorisinde ve sekiz rotora sahip bir octorotor incelenmiştir. Çalışma kapsamında octorotor kol uzunlukları değiştirilerek(uzatılarak ya da kısaltılarak) başkalaşım uygulanmış ve bunun boylamasına uçuşa olan etkisi yükselme zamanı, yerleşme zamanı ve aşım gibi parametreler kontrol edilerek incelenmiştir. Octorotor tam modeli ve başkalaşım durumuna ait dört adet modeli Solidworks programında gerçeğine uygun olarak çizilmiştir. Ardından buradan elde edilen kütle ve eylemsizlik değerleri ile durum uzay modeli yaklaşımı ile Matlab/Simulink ortamında 1ᵒ’lik yörüngeyi izleyen boylamasına uçuş simülasyonları oransal-integral-türev (PID) kontrol algoritması ile gerçekleştirillmiştir. Simülasyonlarda verilen yörünge başarılı bir şekilde izlenmiş ve tasarım performans kriterlerine göre değerlendirmeler yapılmıştır.

Integral LQR Control of a Star-Shaped Octorotor

Article

Full-text available

Jun 2012

The paper starts by presenting the model of the star-shaped octorotor. LQR control is chosen to stabilize the attitude and altitude of the vehicle. Waypoint navigation is also implemented. Numerical simulations demonstrate the effectiveness of the control strategy under nominal conditions. However, in practice mass related uncertainties can occur. In this case the results are unsatisfactory. Thus the improvement of the applied LQR control strategy is proposed. It is shown that after adding integral action to the altitude controller the issue is solved.

Design and Control of quadrotors with application to autonomous flying

Article

Full-text available

Jan 2007

Samir Bouabdallah

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work. The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic coefficients and sensor and actuator models. Two platforms were developed during this thesis. The first one is a quadrotor-like test-bench with off-board data processing and power supply. It was used to safely and easily test control strategies. The second one, OS4, is a highly integrated quadrotor with on-board data processing and power supply. It has all the necessary sensors for autonomous operation. Five different controllers were developed. The first one, based on Lyapunov theory, was applied for attitude control. The second and the third controllers are based on PID and LQ techniques. These were compared for attitude control. The fourth and the fifth approaches use backstepping and sliding-mode concepts. They are applied to control attitude. Finally, backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers. This approach is validated through various flight experiments conducted on the OS4.

Modern Control Systems

Book

Jan 2016

Modern Control Systems Education

Conference Paper

Nov 1994

Dynamical Modeling and Experimental Validation of a Novel V8 Octorotor Flying Robot

Conference Paper

Jan 2016

Application of multirotor flying robots to aerial photography and similar tasks has been steadily rising. A new configuration of octorotor flying robot is proposed in this study that offers many advantages over traditional designs. Euler-Lagrange formalism is used to develop dynamical model of the vehicle. The model is experimentally validated using laboratory data and a recursive modification method based on genetic algorithm optimization. It is shown that derived model can provide a reliable estimate of the robot's dynamics and characteristics.

Autonomous Control of a Mini Quadrotor Vehicle Using LQG Controllers

Chapter

Jan 2010

This chapter describes the techniques of modeling and controller design of attitude for Quad-Rotor MAVs Compared with a single rotor or a contra-rotating propeller small helicopter, the advantages of Quad-Rotor MAVs are that: they have larger payloads, they are more powerful and can more easily handle turbulence such as wind and they are easier to design using a compact airframe. The research about autonomous control for Quad-Rotor MAVs is very active now. A key characteristic of Quad-Rotor MAVs is that all the degrees of freedom of the airframe are controlled by tuning the rotational speed of four motors. Moreover, because their internal controller calculates angular velocity feed back by using a gyro sensor, the nonlinearity of the airframe becomes weaker and a linear model is more appropriate. Therefore in this chapter, we introduce the technique of linear modeling and model based controller design for Quad-Rotor MAVs and the performance of the designed controller.

Lecture notes on LQR/LQG controller design

Article

Joao P. Hespanha

PID and LQ Regulation of a Multirotor Attitude: Mathematical Modelling, Simulations and Experimental Results

Article

Jan 2014
J INTELL ROBOT SYST

Multirotors have been recognized to be particularly interesting for surveillance, search and rescue, imaging and more, because of their several advantages as the high maneuverability and the vertical take off and landing capability. This paper presents the experimental results of the application of a Proportional Integral Derivative control law and a Linear Quadratic Regulation technique to the attitude of a multirotor. The reader is driven through all the main steps required to reach this goal, starting from the derivation of the mathematical model and the control laws, to the simulations and the experimental tests.

Modern Control Systems

Book

Feb 1993

Modeling and control of quadrotor MAV using vision-based measurement

Conference Paper

Nov 2010

In this paper we review the mathematics model of quadrotor using Lagrange's equation. We propose a vision-based measurement to stabilize this model. A dual camera method is used for estimating the pose of the quadrotor; positions and attitudes of the quadrotor MAV. One of these cameras is located on-board the quadrotor MAV, and the orther is located on the ground. The control system is developed in Matlab/Simulink. In this paper, we consider a linear controller for our purpose. Linear Quadratic tracking controller with integral action, and Optimal Linear Quadratic Gaussian (LQG) control with integral action are designed for stabilization of the attitude of the quadrotor MAV. Moreover, some measurement noises will be considered in the controller design, too. Finally, this paper will demonstrate how well this control works for a certain flight mission: quadrotor MAV on the ground, and then starting hover, sideway move and keeping the position with a pointing to a certain object fixed in space.

LQG-I Control for Attitude Stabilization of V8 Octorotor Flying Robot

Abstract and Figures

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