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Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter

Kumar, Rumit
http://rave.ohiolink.edu/etdc/view?acc_num=ucin149156174235128

Abstract Details

2017, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
The aim of this thesis is to present algorithms for autonomous control of tilt-rotor quadcopter UAV. In particular, this research work describes position, attitude and fault tolerant control in tilt-rotor quadcopter. Quadcopters are one of the most popular and reliable unmanned aerial systems because of the design simplicity, hovering capabilities and minimal operational cost. Numerous applications for quadcopters have been explored all over the world but very little work has been done to explore design enhancements and address the fault-tolerant capabilities of the quadcopters. The tilting rotor quadcopter is a structural advancement of traditional quadcopter and it provides additional actuated controls as the propeller motors are actuated for tilt which can be utilized to improve efficiency of the aerial vehicle during flight. The tilting rotor quadcopter design is accomplished by using an additional servo motor for each rotor that enables the rotor to tilt about the axis of the quadcopter arm. Tilting rotor quadcopter is a more agile version of conventional quadcopter and it is a fully actuated system. The tilt-rotor quadcopter is capable of following complex trajectories with ease. The control strategy in this work is to use the propeller tilts for position and orientation control during autonomous flight of the quadcopter. In conventional quadcopters, two propellers rotate in clockwise direction and other two propellers rotate in counter clockwise direction to cancel out the effective yawing moment of the system. The variation in rotational speeds of these four propellers is utilized for maneuvering. On the other hand, this work incorporates use of varying propeller rotational speeds along with tilting of the propellers for maneuvering during flight. The rotational motion of propellers work in sync with propeller tilts to control the position and orientation of the UAV during the flight. A PD flight controller is developed to achieve various modes of the flight. Further, the performance of the controller and the tilt-rotor design has been compared with respect to the conventional quadcopter in the presence of wind disturbances and sensor uncertainties. In this work, another novel feed-forward control design approach is presented for complex trajectory tracking during autonomous flight. Differential flatness based feed-forward position control is employed to enhance the performance of the UAV during complex trajectory tracking. By accounting for differential flatness based feed-forward control input parameters, a new PD controller is designed to achieve the desired performance in autonomous flight. The results for tracking complex trajectories have been presented by performing numerical simulations with and without environmental uncertainties to demonstrate robustness of the controller during flight. The conventional quadcopters are under-actuated systems and, upon failure of one propeller, the conventional quadcopter would have a tendency of spinning about the primary axis fixed to the vehicle as an outcome of the asymmetry in resultant yawing moment in the system. In this work, control of tilt-rotor quadcopter is presented upon failure of one propeller during flight. The tilt-rotor quadcopter is capable of handling a propeller failure and hence is a fault-tolerant system. The dynamic model of tilting-rotor quadcopter with one propeller failure is derived and a controller has been designed to achieve hovering and navigation capability. The simulation results of way point navigation, complex trajectory tracking and fault-tolerance are presented.
Manish Kumar, Ph.D. (Committee Chair)
Frank Cazaurang, Ph.D. (Committee Member)
Kelly Cohen, Ph.D. (Committee Member)
Rajnikant Sharma, Ph.D. (Committee Member)
100 p.
Aerospace Materials
Quadcopter; Fault Tolerance; Tilt-Rotor; Differential Flatness; PD Control; Stability

Recommended Citations

Citations

  • Kumar, R. (2017). Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin149156174235128

    APA Style (7th edition)

  • Kumar, Rumit. Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter. 2017. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin149156174235128.

    MLA Style (8th edition)

  • Kumar, Rumit. "Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter." Master's thesis, University of Cincinnati, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin149156174235128

    Chicago Manual of Style (17th edition)

ucin149156174235128
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This open access ETD is published by University of Cincinnati and OhioLINK.