Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics

Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algori...
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Autor*in:	Chen Wang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2019

Schlagwörter:	Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 7(2019), Seite 44503-44513
Übergeordnetes Werk:	volume:7 ; year:2019 ; pages:44503-44513

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DOI / URN:	10.1109/ACCESS.2019.2904979

Katalog-ID:	DOAJ014239493

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520			\|a Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach.
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spelling	10.1109/ACCESS.2019.2904979 doi (DE-627)DOAJ014239493 (DE-599)DOAJ52545e33102c447fb35957d21863ad92 DE-627 ger DE-627 rakwb eng TK1-9971 Chen Wang verfasserin aut Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach. Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight Electrical engineering. Electronics. Nuclear engineering In IEEE Access IEEE, 2014 7(2019), Seite 44503-44513 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:44503-44513 https://doi.org/10.1109/ACCESS.2019.2904979 kostenfrei https://doaj.org/article/52545e33102c447fb35957d21863ad92 kostenfrei https://ieeexplore.ieee.org/document/8667458/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 44503-44513
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allfieldsGer	10.1109/ACCESS.2019.2904979 doi (DE-627)DOAJ014239493 (DE-599)DOAJ52545e33102c447fb35957d21863ad92 DE-627 ger DE-627 rakwb eng TK1-9971 Chen Wang verfasserin aut Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach. Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight Electrical engineering. Electronics. Nuclear engineering In IEEE Access IEEE, 2014 7(2019), Seite 44503-44513 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:44503-44513 https://doi.org/10.1109/ACCESS.2019.2904979 kostenfrei https://doaj.org/article/52545e33102c447fb35957d21863ad92 kostenfrei https://ieeexplore.ieee.org/document/8667458/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 44503-44513
allfieldsSound	10.1109/ACCESS.2019.2904979 doi (DE-627)DOAJ014239493 (DE-599)DOAJ52545e33102c447fb35957d21863ad92 DE-627 ger DE-627 rakwb eng TK1-9971 Chen Wang verfasserin aut Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics 2019 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach. Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight Electrical engineering. Electronics. Nuclear engineering In IEEE Access IEEE, 2014 7(2019), Seite 44503-44513 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:7 year:2019 pages:44503-44513 https://doi.org/10.1109/ACCESS.2019.2904979 kostenfrei https://doaj.org/article/52545e33102c447fb35957d21863ad92 kostenfrei https://ieeexplore.ieee.org/document/8667458/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 7 2019 44503-44513
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source	In IEEE Access 7(2019), Seite 44503-44513 volume:7 year:2019 pages:44503-44513
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topic_facet	Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight Electrical engineering. Electronics. Nuclear engineering
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callnumber-first	T - Technology
author	Chen Wang
spellingShingle	Chen Wang misc TK1-9971 misc Adaptive robust control misc multirotor dynamics modeling misc blade element momentum theory misc thruster model misc high speed forward flight misc Electrical engineering. Electronics. Nuclear engineering Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics
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topic_title	TK1-9971 Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics Adaptive robust control multirotor dynamics modeling blade element momentum theory thruster model high speed forward flight
topic	misc TK1-9971 misc Adaptive robust control misc multirotor dynamics modeling misc blade element momentum theory misc thruster model misc high speed forward flight misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Adaptive robust control misc multirotor dynamics modeling misc blade element momentum theory misc thruster model misc high speed forward flight misc Electrical engineering. Electronics. Nuclear engineering
topic_browse	misc TK1-9971 misc Adaptive robust control misc multirotor dynamics modeling misc blade element momentum theory misc thruster model misc high speed forward flight misc Electrical engineering. Electronics. Nuclear engineering
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title	Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics
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title_full	Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics
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title_sort	modeling and adaptive control for multirotor subject to thruster dynamics
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title_auth	Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics
abstract	Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach.
abstractGer	Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach.
abstract_unstemmed	Research on high-speed flight dynamics of multirotors is in increasing demand for “quick-reach” missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach.
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title_short	Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics
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