Multirotor Helicopters Research Articles

2A2-B01 モデル集合同定法を用いたマルチローターヘリコプターへの操作支援システムの開発(飛行ロボット・メカトロニクス(2))

2A2-B01 モデル集合同定法を用いたマルチローターヘリコプターへの操作支援システムの開発(飛行ロボット・メカトロニクス(2))

Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters

This paper presents the design and implementation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is provided and a hierarchical nonlinear controller is presented. This controller is designed for both high-precision flights as well as robustness against model uncertainties and external disturbances. This is achieved by using saturated integrators with fast desaturation properties. The implementation of the controller on the flybox hexacopter platform is described. The hardware and software architecture of this UAV is discussed, and useful hints and insights gained during its design process are presented. Finally, experimental results and videos are reported to demonstrate the successful implementation and the performance of the overall system.

Robust optimal attitude control of hexarotor robotic vehicles

Multirotor aerial robotic vehicles attract much attention due to their increased load capacity and high maneuverability. In this paper, a robust optimal attitude controller is proposed for a kind of multirotor helicopters—hexarotors. It consists of a nominal optimal controller and a robust compensator. The nominal controller is designed based on the linear quadratic regulation (LQR) method to achieve desired tracking of the nominal system, and the robust compensator is added to restrain the influence of uncertainties. The key contributions of this work are twofold: firstly, the closed-loop control system is robust against coupling and nonlinear dynamics, parametric uncertainties, and external disturbances; secondly, a decoupled and linear time-invariant control architecture making it ideal for real-time implementation. The attitude tracking errors are proven to be ultimately bounded with specified boundaries. Simulation and experimental results on the hexarotor demonstrate the effectiveness of the proposed attitude control method.

Analysis of an Improved IMU-Based Observer for Multirotor Helicopters

Multirotor helicopters are increasingly popular platforms in the robotics community. Making them fully autonomous requires accurate state estimation. We review an improved dynamic model for multirotor helicopters and analyze the observability properties of an estimator based on this model. The model allows better use of IMU data to facilitate accurate state estimates even when updates from a sensor measuring position become less frequent and less accurate. We demonstrate that the position update rate can be cut in half versus typical approaches while maintaining the same accuracy. We also find that velocity estimates are at least twice as accurate independent of the position update rate.

B26 産業応用型マルチロータヘリコプタの自動バッテリ交換システムの開発(M-OS10-3 自律知能無人ビークルの運動と制御III,M-OS10 自律知能無人ビークルの運動と制御,「海を越え,国を越え,世代を超えて!」)

This paper presents an autonomous battery exchanging system for multirotor helicopters. we developed an autonomous battery exchanging station for industrial use Unmanned Aerial Vehicles(UAVs), which has 8 battery bays and chargers. And we also proposed precise autonomous landing method to battery exchanging station using only a low cost GPS receiver as localization sensors. The proposed solution named the "tethered landing method" is accomplished by reeling tether hooked on a heliport of battery exchanging station.