ICUAS 2020 Paper Abstract

Close

Paper WeB4.2

Larsson, Daniel (Georgia Institute of Technology), Nguyen, Chuong (Arizona State University), Artemiadis, Panagiotis (University of Delaware)

Modeling and Control of Mid-Flight Coupling of Quadrotors: A New Concept for Quadrotor Cooperation

Scheduled for presentation during the Regular Session "Control Architectures II" (WeB4), Wednesday, September 2, 2020, 15:20−15:40, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Control Architectures, Micro- and Mini- UAS

Abstract

Multirotor vehicles, quadrotors specifically, have formed a fast-growing field in robotics, with the range of applications spanning from surveillance and reconnaissance to agriculture and large area mapping. Although in most applications, a single quadrotors is used, there is an increasing interest in architectures controlling multiple quadrotors executing a collaborative task. This paper introduces a new concept of control involving more than one quadrotors, according to which two quadrotors can be physically coupled in mid-flight. This concept equips the quadrotors with new capabilities, e.g. increased payload or pursuit and capturing of other quadrotors. A comprehensive analysis of the approach is presented for the system of two coupled quadrotors. The dynamics and modeling of the coupled system is presented together with a discussion regarding the coupling mechanism and the overall control architecture. Controller gains were found using Linear Quadratic Control (LQR) techniques combined with Proportional Integral Derivative (PID) gain scheduling to account for the change in system dynamics to ensure stability and satisfactory response characteristics in actual experiments. Finally, the proposed methods are evaluated through an experiment that involved physical coupling and coupled flight of a pair of quadrotors.

 

 

All Content © PaperCept, Inc.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2024 PaperCept, Inc.
Page generated 2024-03-29  07:20:37 PST  Terms of use