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Conference Paper: Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs
Title | Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs |
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Authors | |
Keywords | Robot Dynamics and Control Unmanned Aerial Vehicles Identification and Estimation in Mechatronics control system synthesis helicopters |
Issue Date | 2020 |
Publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000006 |
Citation | Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Virtual Conference, Boston, MA, USA, 6-9 July 2020, p. 1249-1255 How to Cite? |
Abstract | Bi-copter UAVs have emerged as more agile and energetically efficient flying platforms than quadrotor UAVs. Yet, they are more challenging to control due to the use of servo motors leading to non-minimum phase roll dynamics. In this paper, we systematically investigate the modeling, identification, and control of such non-minimum phase dynamics in an integrated way. We start with deriving the first principle model, from which the cause of the non-minimum phase is clearly seen. Parameters of the derived model are identified via experiments and subsequently used to design and analyze a high-gain robust flight controller via H ∞ loop shaping techniques. The designed controller is implemented on actual systems and compared against a well-tuned PID controller. Extensive flight tests are conducted to verify the controller's effectiveness and the effect of the system's non-minimum phase nature. |
Description | WeBT3: Aerial Robots II - Paper WeBT3.1 |
Persistent Identifier | http://hdl.handle.net/10722/287899 |
ISSN |
DC Field | Value | Language |
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dc.contributor.author | Li, Y | - |
dc.contributor.author | Qin, Y | - |
dc.contributor.author | Xu, W | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2020-10-05T12:04:52Z | - |
dc.date.available | 2020-10-05T12:04:52Z | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Virtual Conference, Boston, MA, USA, 6-9 July 2020, p. 1249-1255 | - |
dc.identifier.issn | 2159-6247 | - |
dc.identifier.uri | http://hdl.handle.net/10722/287899 | - |
dc.description | WeBT3: Aerial Robots II - Paper WeBT3.1 | - |
dc.description.abstract | Bi-copter UAVs have emerged as more agile and energetically efficient flying platforms than quadrotor UAVs. Yet, they are more challenging to control due to the use of servo motors leading to non-minimum phase roll dynamics. In this paper, we systematically investigate the modeling, identification, and control of such non-minimum phase dynamics in an integrated way. We start with deriving the first principle model, from which the cause of the non-minimum phase is clearly seen. Parameters of the derived model are identified via experiments and subsequently used to design and analyze a high-gain robust flight controller via H ∞ loop shaping techniques. The designed controller is implemented on actual systems and compared against a well-tuned PID controller. Extensive flight tests are conducted to verify the controller's effectiveness and the effect of the system's non-minimum phase nature. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000006 | - |
dc.relation.ispartof | IEEE / ASME International Conference on Advanced Intelligent Mechatronics (AIM) | - |
dc.rights | IEEE / ASME International Conference on Advanced Intelligent Mechatronics (AIM). Copyright © IEEE. | - |
dc.rights | ©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | Robot Dynamics and Control | - |
dc.subject | Unmanned Aerial Vehicles | - |
dc.subject | Identification and Estimation in Mechatronics | - |
dc.subject | control system synthesis | - |
dc.subject | helicopters | - |
dc.title | Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.description.nature | postprint | - |
dc.identifier.doi | 10.1109/AIM43001.2020.9158910 | - |
dc.identifier.scopus | eid_2-s2.0-85090390710 | - |
dc.identifier.hkuros | 314699 | - |
dc.identifier.spage | 1249 | - |
dc.identifier.epage | 1255 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2159-6247 | - |