Header menu link for other important links
Acceleration control of a multi-rotor UAV towards achieving microgravity
, Kedarisetty S.
Published in Springer Science and Business Media B.V.
Volume: 2
Issue: 2
Pages: 175 - 188
In this paper, we present control and parameter estimation strategies with theoretical guarantees to turn a hex-rotor unmanned aerial vehicle (UAV) into a microgravity enabling platform. We make the UAV to maintain a constant acceleration equal to free-fall acceleration for it and any payload on-board to experience microgravity. Towards this, we derive a feedback linearisation-based acceleration control law exploiting the differential flatness property of our system. The proposed control law requires the estimates of the system parameters. Therefore, ancillary to this control law, we propose a parameter estimation scheme and prove that the proposed control law along with the parameter estimation scheme ensures convergence of acceleration to the desired value under certain conditions. We also characterize these conditions that guarantee convergence. The flight tests that we have performed employing the proposed control and parameter estimation schemes gave microgravity levels of the order of 10 - 3g for 1.6 s. To our knowledge, our hex-rotor UAV is the first multi-rotor UAV to achieve microgravity, and the first UAV—fixed-wing or rotary—to attain and maintain such levels of microgravity. © 2019, Shanghai Jiao Tong University.
About the journal
JournalData powered by TypesetAerospace Systems
PublisherData powered by TypesetSpringer Science and Business Media B.V.
Open AccessNo