González Guerrero, José Carlos (Instituto tecnológico de Puebla), Diaz-Tellez, Juan (BUAP), Estevez carreon, Jaime (Tecnológico Nacional de México/Instituto Tecnológico de Puebla), Mendoza Vázquez, Raymundo (Tecnológico Nacional de México - Instituto Tecnológico de Puebla), Meraz-Melo, Marco Antonio (Tecnológico Nacional de México - Instituto Tecnológico de Puebla), Guerrero, Fermi (Benemerita Universidad Autonoma de Puebla)

Low Altitude Control of the VTOL UAV Tolerant to Ground Effect and Actuator Failures

Scheduled for presentation during the Regular Session "Multirotor Design and Control III" (FrC3), Friday, June 24, 2022, 15:40−16:00, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper proposes a novel robust control law to stabilise the altitude of a vertical take-off and landing (VTOL) aircraft subject to ground effect and thrust faults. The VTOL UAV dynamics consider external disturbances, unmodeled dynamics, ground effect, and time-varying additive actuator faults. We perform extensive numerical simulations at altitudes between 0.05-0.2 m for a small Bitcraze Crazyflie 2.0 multirotor through three ground effect models. The VTOL UAV operates at low altitudes close to the ground in a hover state. Numerical simulations show that the control algorithm is precise and robust enough to stabilise the aircraft at low altitudes without including a ground effect compensator. A new form of active disturbance rejection control approach is proposed to guarantee asymptotic stability with endogenous and exogenous disturbances.