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DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER
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| Zeitschriftentitel: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
|---|---|
| Personen und Körperschaften: | , |
| In: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XXXVIII-1/C22, 2012, S. 95-100 |
| Format: | E-Article |
| Sprache: | Englisch |
| veröffentlicht: |
Copernicus GmbH
|
| Schlagwörter: |
| author_facet |
Ducard, G. J. J. Hua, M.-D. Ducard, G. J. J. Hua, M.-D. |
|---|---|
| author |
Ducard, G. J. J. Hua, M.-D. |
| spellingShingle |
Ducard, G. J. J. Hua, M.-D. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER General Earth and Planetary Sciences General Environmental Science |
| author_sort |
ducard, g. j. j. |
| spelling |
Ducard, G. J. J. Hua, M.-D. 2194-9034 Copernicus GmbH General Earth and Planetary Sciences General Environmental Science http://dx.doi.org/10.5194/isprsarchives-xxxviii-1-c22-95-2011 <jats:p>Abstract. This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N ]T composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability. </jats:p> DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
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| title |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_unstemmed |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_full |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_fullStr |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_full_unstemmed |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_short |
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_sort |
discussion and practical aspects on control allocation for a multi-rotor helicopter |
| topic |
General Earth and Planetary Sciences General Environmental Science |
| url |
http://dx.doi.org/10.5194/isprsarchives-xxxviii-1-c22-95-2011 |
| publishDate |
2012 |
| physical |
95-100 |
| description |
<jats:p>Abstract. This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N ]T composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability.
</jats:p> |
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| description | <jats:p>Abstract. This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N ]T composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability. </jats:p> |
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| spelling | Ducard, G. J. J. Hua, M.-D. 2194-9034 Copernicus GmbH General Earth and Planetary Sciences General Environmental Science http://dx.doi.org/10.5194/isprsarchives-xxxviii-1-c22-95-2011 <jats:p>Abstract. This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N ]T composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability. </jats:p> DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spellingShingle | Ducard, G. J. J., Hua, M.-D., The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER, General Earth and Planetary Sciences, General Environmental Science |
| title | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_full | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_fullStr | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_full_unstemmed | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_short | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| title_sort | discussion and practical aspects on control allocation for a multi-rotor helicopter |
| title_unstemmed | DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER |
| topic | General Earth and Planetary Sciences, General Environmental Science |
| url | http://dx.doi.org/10.5194/isprsarchives-xxxviii-1-c22-95-2011 |