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Advisor(s)
Abstract(s)
To map the Virtual Control Actions (VCAs) into
Real Control Actions (RCAs), over-actuated systems typically
require nonlinear control allocation methods. On embedded
robotic platforms, computational efforts are not always available.
With this in mind, this work presents the design of a
Quadrotor Tilt-Rotor (QTR) through a new concept of control
allocation with uncoupled RCAs, where a nonlinear system is
divided into partially dependent and linear subsystems with fast
and robust convergence. The RCAs are divided into smaller
and linearized sets and solved sequentially. Then, the cascade
Multipe-Input-Multipe-Output (MIMO) Proportional (P)-
Proportional, Integral and Derivative (PID) controllers tuning
were presented with saturation constants and successive loop
closure technique, where some open-field environment tests were
conducted to validate the respective tuning. In the end, it showed
to be reliable, robust, efficient, and applicable when VCAs are
overlapped between the subsystems.
Description
Keywords
P-PID controller overactuated vehicle MIMO cascade controller
Citation
Santos, Murillo F. dos; Honório, Leonardo de Mello; Silva, Mathaus F. da; Silva, William R.; Lima, José; Mercorelli, Paolo; Carmo, Marlon José do (2023). Cascade MIMO P-PID controllers applied in an over-actuated quadrotor Tilt-Rotor. In 24th International Carpathian Control Conference (ICCC). 12-14 June 2023, Miskolc-Szilvásvárad. p. 135-140. ISBN 979-8-3503-1022-1
Publisher
IEEE