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Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture

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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.fosCiências Agrárias::Agricultura, Silvicultura e Pescas
datacite.subject.sdg04:Educação de Qualidade
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
datacite.subject.sdg12:Produção e Consumo Sustentáveis
dc.contributor.authorLibório, Leandro Oliveira
dc.contributor.authorPimentel, Gabriel Oliveira
dc.contributor.authorSantos, Murillo Ferreira dos
dc.contributor.authorFernandes, Fernanda Mara
dc.contributor.authorLima, José
dc.contributor.authorMorais, Maurício Herche Fófano de
dc.contributor.authorMercorelli, Paolo
dc.contributor.authorPereira, Ana I.
dc.date.accessioned2026-03-16T16:16:35Z
dc.date.available2026-03-16T16:16:35Z
dc.date.issued2025
dc.date.updated2026-03-11T19:44:00Z
dc.description.abstractThis work presents the control allocation and tuning methodology for an over-actuated Hexacopter Tilt-Rotor (HTR) designed for precision agriculture applications. The HTR's innovative design includes two independently tiltable rotors, enhancing stability and forward velocity, making it suitable for low-altitude maneuvers in agricultural environments. The study focuses on the implementation of a cascade Proportional (P)-Proportional, Integral and Derivative (PID) control structure with Successive Loop Closure (SLC) and the application of an extended Fast Control Allocation (FCA) method to optimize actuator performance. The control gains were meticulously tuned to ensure stability and robustness across six degrees of freedom, achieving precise trajectory tracking and efficient resource use. Validation was conducted through simulations using Robot Operating System (ROS) and Gazebo, replicating realistic precision agriculture scenarios. Results demonstrate the efficacy of the proposed control strategies, highlighting their potential for real-world applications in crop monitoring, pest detection, and resource optimization. Future work includes physical implementation and integration with collaborative robotics.eng
dc.description.sponsorshipThe authors are also grateful to CeDRI (UID/05757), SusTEC (LA/P/0007/2021), SmartProduce project, funding by COMPETE2030-FEDER-01204700. They also thank the National Council for Scientific and Technological Development – CNPq, related to project 442696/2023-0.
dc.description.versionN/A
dc.identifier.citationLibório, Leandro Oliveira; Pimentel, Gabriel Oliveira; Santos, Murillo Ferreira dos; Fernandes, Fernanda Mara; Lima, José; Morais, Maurício Herche Fófano de; Mercorelli, Paolo; Pereira, Ana I. (2025). Control Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agriculture. In 26th International Carpathian Control Conference, ICCC 2025. Stary Smokovec:IEEE. p. 1-6. ISBN 979-833150127-3
dc.identifier.doi10.1109/iccc65605.2025.11022852en_US
dc.identifier.eid2-s2.0-105008962527en_US
dc.identifier.isbn979-833150127-3
dc.identifier.urihttp://hdl.handle.net/10198/36090
dc.language.isoeng
dc.peerreviewedyes
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
dc.rights.urihttp://creativecommons.org/licenses/by-nd/4.0/
dc.subjectUnmanned aerial vehicle
dc.subjectHexacopter tilt-rotor
dc.subjectUAV controller
dc.subjectFast control allocation
dc.titleControl Allocation and Controller Tuning for an Over-Actuated Hexacopter Tilt-Rotor Applied for Precision Agricultureeng
dc.typeconference paperen_US
dspace.entity.typePublication
oaire.awardNumberUIDP/05757/2020
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIhttp://hdl.handle.net/10198/35997
oaire.citation.conferencePlaceEslováquiaen_US
oaire.citation.endPage6
oaire.citation.startPage1
oaire.citation.title26th International Carpathian Control Conference, ICCC 2025
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameLima
person.familyNamePereira
person.givenNameJosé
person.givenNameAna I.
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0003-3803-2043
person.identifier.ridL-3370-2014
person.identifier.ridF-3168-2010
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id15071961600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.cv.cienciaid1517-A459-54E4 | Maurício Herche Fófano de Morais
rcaap.rightsopenAccessen_US
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublicatione9981d62-2a2b-4fef-b75e-c2a14b0e7846
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isProjectOfPublicationd0a17270-80a8-4985-9644-a04c2a9f2dff
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