LQI based position control of a quad tilt-rotor UAV

2019 ◽  
Vol 2019 (0) ◽  
pp. 1P1-N02
Author(s):  
Tomoyuki MAGARIYAMA ◽  
Satoko ABIKO
Keyword(s):  
Position Control ◽  
Tilt Rotor

Tilting-Rotor Quadcopter for Aggressive Flight Maneuvers Using Differential Flatness Based Flight Controller

2017 ◽  
Author(s):  
Rumit Kumar ◽  
Alireza Nemati ◽  
Manish Kumar ◽  
Rajnikant Sharma ◽  
Kelly Cohen ◽  
...  
Keyword(s):  
Position Control ◽  
Differential Flatness ◽  
Feed Forward ◽  
Autonomous Flight ◽  
Control Approach ◽  
Tilt Rotor ◽  
Feed Forward Control ◽  
Position And Orientation ◽  
Complex Trajectory ◽  
Complex Trajectories

In this paper, we present a feed-forward control approach for complex trajectory tracking by a tilting-rotor quadcopter during autonomous flight. Tilting-rotor quadcopter is a more agile version of conventional quadcopter as the propeller motors are actuated to tilt about the quadcopter arm. The tilt-rotor quad-copter is capable of following complex trajectories with ease. In this paper, we employ differential flatness based feed-forward position control by utilizing a combination of propeller rotational speeds along with rotor tilts. The rotational motion of propellers work simultaneously in sync with propeller tilts to control the position and orientation of the UAV during autonomous flight. The results for tracking complex trajectories have been presented by performing numerical simulations and a comparison is shown with respect to conventional quadcopter for similar flight conditions. It has been found that the tilt-rotor quadcopter is more efficient than the conventional quadcopter during complex trajectory following maneuvers.

A new Technique for Position Control of Induction Motor Using Adaptive Inverse Control

2010 ◽  
Vol 6 (2) ◽  
pp. 116-122
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Induction Motor ◽  
Position Control ◽  
New Technique ◽  
Adaptive Inverse Control ◽  
Inverse Control ◽  
A New Technique

Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control

2017 ◽  
Vol 10 (4) ◽  
pp. 325
Author(s):  
Angie Julieth Valencia Castañeda ◽  
Mauricio Felipe Mauledoux Monroy ◽  
Oscar Fernando Avilés Sánchez ◽  
Paola Andrea Niño Suarez ◽  
Edgar Alfredo Portilla Flores
Keyword(s):  
Embedded System ◽  
Position Control ◽  
Differential Drive ◽  
Vehicle Position

Controllable Compliance Joint For Human Oriented Robots

2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Joint Stiffness ◽  
Joint Motion ◽  
Compliance Control ◽  
Leaf Springs ◽  
Antagonistic Actuation

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.

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