High Accuracy Positioning using Jet Thrusters for Quadcopter

Chenhuan Pi,Jinkwan Lin,Stone Cheng,O Adiguzel,I Mcandrew,Y Yokoi,V Koryanov

doi:10.1051/matecconf/201815104004

Chenhuan Pi, Jinkwan Lin + Show 5 more

Open Access

https://doi.org/10.1051/matecconf/201815104004

Copy DOI

Abstract

A quadcopter is equipped with four additional jet thrusters on its horizontal plane and vertical to each other in order to improve the maneuverability and positioning accuracy of quadcopter. A dynamic model of the quadcopter with jet thrusters is derived and two controllers are implemented in simulation, one is a dual loop state feedback controller for pose control and another is an auxiliary jet thruster controller for accurate positioning. Step response simulations showed that the jet thruster can control the quadcopter with less overshoot compared to the conventional one. Over 10s loiter simulation with disturbance, the quadcopter with jet thruster decrease 85% of RMS error of horizontal disturbance compared to a conventional quadcopter with only a dual loop state feedback controller. The jet thruster controller shows the possibility for further accurate in the field of quadcopter positioning.

Highlights

A quadcopter (Quadrotor) is a Micro Aerial Vehicle (MAV) driven by four rotors
We present the dual loop state-feedback controller and jet thruster controller used in the proposed quadcopter
Jet thruster controller is considered as an auxiliary component for higher accuracy positioning

Summary

Introduction

The control technique and applications of a quadcopter are popular research topics in recent years due to their low price, small size and easy to modification Their maneuverability and ease to use make them fit to provide stable flight, navigate into places that ground robots or human cannot reach and perform tasks. Increasing the tilt angle increases lift loss and wind cross-section area To ameliorate this situation, Bannwarth et al [2] designed a wind disturbance rejection nonlinear controller on quadcopter. [4, 5] show the different usage of fuel burning engine from cold gas thruster, which drive quadcopter by gears and transmissions This system can be realized by using components such as pressurized gas tank, regulator valve, solenoid and nozzle to create thrust force needed to perform translational or rotational maneuver of vehicle.

Jet Thruster Quadcopter

Controller Design

Simulation Results

Step Input Response Results

Conclusions