Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach
Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the singularities that exist in a vertical looping maneuver. Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form. Physica...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/7324540 |
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| author | Ayman A. El-Badawy Mohamed A. Bakr |
| author_facet | Ayman A. El-Badawy Mohamed A. Bakr |
| author_sort | Ayman A. El-Badawy |
| collection | DOAJ |
| description | Automatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the singularities that exist in a vertical looping maneuver. Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form. Physical singularities due to underactuation are resolved by using an energy-based control. Energy-based control is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when commanding the quadcopter to gain altitude while pitched at 90∘. Three looping strategies (circular, clothoidal, and newly developed constant thrust) are implemented on a nonlinear model of the quadcopter. The three looping strategies are discussed along with their advantages and limitations. |
| format | Article |
| id | doaj-art-5c3dfb56f16d45c28d54e6bd2b1b95c8 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-5c3dfb56f16d45c28d54e6bd2b1b95c82025-02-03T01:24:32ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/73245407324540Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based ApproachAyman A. El-Badawy0Mohamed A. Bakr1Mechanical Engineering Department, Al-Azhar University, Cairo, EgyptMechatronics Engineering Department, German University in Cairo, El Tagammoa El Khames, New Cairo, Cairo 11835, EgyptAutomatic aggressive maneuvers with quadcopters are regarded as a highly challenging control problem. The aim is to tackle the singularities that exist in a vertical looping maneuver. Modeling singularities are resolved by writing the equations-of-motion of the quadcopter in quaternion form. Physical singularities due to underactuation are resolved by using an energy-based control. Energy-based control is utilized to overcome the uncontrollability of the quadcopter at physical singular configurations, for instance, when commanding the quadcopter to gain altitude while pitched at 90∘. Three looping strategies (circular, clothoidal, and newly developed constant thrust) are implemented on a nonlinear model of the quadcopter. The three looping strategies are discussed along with their advantages and limitations.http://dx.doi.org/10.1155/2016/7324540 |
| spellingShingle | Ayman A. El-Badawy Mohamed A. Bakr Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach Journal of Control Science and Engineering |
| title | Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach |
| title_full | Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach |
| title_fullStr | Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach |
| title_full_unstemmed | Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach |
| title_short | Quadcopter Aggressive Maneuvers along Singular Configurations: An Energy-Quaternion Based Approach |
| title_sort | quadcopter aggressive maneuvers along singular configurations an energy quaternion based approach |
| url | http://dx.doi.org/10.1155/2016/7324540 |
| work_keys_str_mv | AT aymanaelbadawy quadcopteraggressivemaneuversalongsingularconfigurationsanenergyquaternionbasedapproach AT mohamedabakr quadcopteraggressivemaneuversalongsingularconfigurationsanenergyquaternionbasedapproach |