A highly configured radio controller with switchable sticks will lead to maintaining connectivity for long-range and to attain vertical take-off landing. Improper calibration of flight controllers will lead to crashes or non-stability in the flight of the drone. several airframes were tested for optimizing and adapting for different operational scenarios. The flight controller plays a key role in UAV during hovering in the mid-air. The flight tests of the entire system are carried out in different flight configurations, i.e. The Futaba SBUS.2 is used for communication between sensors, actuators and autopilot. In order to maximum flexibility in the application all control electronics are designed as expandable systems of hardware modules. For safety reasons each hardware node has its own CPU. The hardware based on the ARM Cortex M4 architecture. The most important sensors will be introduced. The original VCU flight control system was based on an Atmel FPSLIC processor. Naturally, these systems have developed over the years and have expanded to fill more roles, and provide improved and extended functionality. Therefore, essential part of the project are the necessary hardware design of the control electronics and the connected sensor subsystems. developing computer control systems for unmanned vehicles for several years now. The mathematical basics were analysed and transfered into a closed software system supported by Matlab/Simulink and by practical flight tests. IEEE Access 8:54910–54927.Based on a theoretical model, a flight control system (autopilot) is designed for an UAV. IEEE Trans Fuzzy Syst 24(1):223–234Ībichandani P, Lobo D, Ford G, Bucci D, Kam M (2020) Wind measurement and simulation techniques in multi-rotor small unmanned aerial vehicles. Li YX, Yang GH (2016) Fuzzy adaptive output feedback faulttolerant tracking control of a class of uncertain nonlinear systems with nonaffine nonlinear faults. In: Proceedings of IEEE international conference on robotics and biomimetics (ROBIO), Dali, China, pp 114–119 Li B, Wang D, Ma L (2019) BioTetra: a bioinspired multi-rotor aerial vehicle. In: Proceedings of 2018 37th Chinese control conference (CCC), Wuhan, pp 7896–7900 Xu X, Watanabe K, Nagai I (2018) Development of an aerial robot that has multifunctional locomotion modes with tilted coaxial rotors. Zhou L, Zhang J, She H, Jin H (2019) Quadrotor UAV flight control via a novel saturation integral backstepping controller. Xu X, Watanabe K, Nagai I (2020) Feedback linearization control for a tandem rotor UAV robot equipped with two 2-DOF tiltable coaxial-rotors. Kastelan D, Konz M, Rudolph J (2015) Fully actuated tricopter with pilot-supporting control. Rashad R, Goerres J, Aarts RG, Engelen JB, Stramigioli S (2020) Fully actuated multirotor UAVs: a literature review. In: IEEE/RSJ international conference on intelligent robots and systems, 2007, IROS 2007, San Diego, CA, USA, pp 153–158 In: Aerospace conference, 2013 IEEE, pp 1–8īouabdallah S, Siegwart R (2007) Full control of a quadrotor. Nikolic J, Burri M, Rehder J, Leutenegger S, Huerzeler C, Siegwart R (2013) A UAV system for inspection of industrial facilities. IEEE Access 7:55817–55832įlener C, Vaaja M, Jaakkola A, Krooks A, Kaartinen H, Kukko A, Kasvi E, Hyyppa H, Hyyppa J, Alho P (2013) Seamless mapping of river channels at high resolution using mobile LiDAR and UAV-photography. Finally, some numerical simulations are demonstrated to verify the performance of the proposed strategies for the UAV robot.Īlotaibi ET, Alqefari SS, Koubaa A (2019) Lsar: Multi-uav collaboration for search and rescue missions. Also, a robust backstepping controller for the UAV robot considering the wind field disturbances is proposed, which includes the integral of error in the Lyapunov function, together with using a saturation function in the controller. To improve the flight performance of the UAV robot, a classical backstepping controller is designed and the system using this controller is proved to be asymptotically stabilized by the Lyapunov stability theory when not considering the external disturbance. The performance of the proposed computed torque control strategy showed some limitations considering the wind field disturbances in the previous study, in which the dynamical models of the proposed tandem rotor UAV robot and the model of the wind field disturbances have been discussed. This paper presents the flight control of coupling both the position and attitude for a tandem rotor UAV robot that has two 2-DOF tiltable coaxial rotors in the presence of wind field disturbance.
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