Abstract
In this paper, a vertical velocity controller for multirotor UAVs is proposed. Based on the previous research, authors developed a model of vertical movement which takes into consideration measurement noises, and designed a simulation that allowed tuning of mentioned controller. As a regulation scheme, a classical PI structure was used. The derivative part was neglected because of high amplitude of noise during harsh touchdowns. Tuning of parameters was achieved by PSO optimisation. Experimental results showed that the selected control structure and its parameters fulfill stated requirements. In addition, developed simulation is adequate to the real platform.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bondyra, A., Gardecki, S., Ga̧sior, P.: A distributed control system for multirotor aerial platforms. Measur. Autom. Monit. 61(7), 343–345 (2015)
Bondyra, A., Gardecki, S., Gąsior, P., Kasiński, A.: Falcon: a compact multirotor flying platform with high load capability. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds.) Progress in Automation, Robotics and Measuring Techniques. AISC, vol. 351, pp. 35–44. Springer, Cham (2015). doi:10.1007/978-3-319-15847-1_4
Bondyra, A., Gardecki, S., Ga̧sior, P., Giernacki, W.: Performance of coaxial propulsion in design of multi-rotor UAVs. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds.) Challenges in Automation, Robotics and Measurement Techniques. AISC, vol. 440, pp. 523–531. Springer, Cham (2016). doi:10.1007/978-3-319-29357-8_46
Fernandes, A.S., Brand, A.S., Villarreal, E.R.L., et al.: A comparative study of altitude and yaw controllers for rotorcraft UAV. In: 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), pp. 411–418. IEEE (2015)
Ga̧sior, P., Bondyra, A., Gardecki, S., Giernacki, W.: Robust estimation algorithm of altitude and vertical velocity for multirotor UAVs. In: 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR), pp. 714–719. IEEE (2016)
Ga̧sior, P., Bondyra, A., Gardecki, S., Giernacki, W., Kasiński, A.: Thrust estimation by fuzzy modeling of coaxial propulsion unit for multirotor UAVs. In: 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pp. 13–18. IEEE (2016)
Gąsior, P., Gardecki, S., Gośliński, J., Giernacki, W.: Estimation of altitude and vertical velocity for multirotor aerial vehicle using Kalman filter. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds.) Recent Advances in Automation, Robotics and Measuring Techniques. AISC, vol. 267, pp. 377–385. Springer, Cham (2014). doi:10.1007/978-3-319-05353-0_36
Gonzalez-Hernandez, I., Salazar, S., Lopez, R., Lozano, R.: Altitude control improvement for a quadrotor UAV using integral action in a sliding-mode controller. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 711–716. IEEE (2016)
Kennedy, J., Eberhart, R.: Particle swarm optimization. In: IEEE International Conference on Neural Networks, Proceedings, vol. 4, pp. 1942–1948, November 1995
Li, B., Harvey, B., Gallagher, T.: Using barometers to determine the height for indoor positioning. In: 2013 International Conference on Indoor Positioning and Indoor Navigation (IPIN), pp. 1–7. IEEE (2013)
Liu, H., Liu, M., Wei, X., Song, Q., Ge, Y., Wang, F.: Auto altitude holding of quadrotor UAVs with Kalman filter based vertical velocity estimation. In: 2014 11th World Congress on Intelligent Control and Automation (WCICA), pp. 4765–4770. IEEE (2014)
Min, B.C., Hong, J.H., Matson, E.T.: Adaptive robust control (ARC) for an altitude control of a quadrotor type UAV carrying an unknown payloads. In: 2011 11th International Conference on Control, Automation and Systems (ICCAS), pp. 1147–1151. IEEE (2011)
Nakanishi, H., Kanata, S., Sawaragi, T.: Measurement model of barometer in ground effect of unmanned helicopter and its application to estimate terrain clearance. In: 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics, pp. 232–237. IEEE (2011)
Noaa, U.: US Air Force: US standard atmosphere, 1976. Technical report, NOAA-S/T (1976)
Pedersen, M.E.H.: Good parameters for particle swarm optimization. Hvass Lab., Copenhagen, Denmark, Technical report HL1001 (2010)
Sharf, I., Nahon, M., Harmat, A., Khan, W., Michini, M., Speal, N., Trentini, M., Tsadok, T., Wang, T.: Ground effect experiments and model validation with Draganflyer X8 rotorcraft. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1158–1166. IEEE (2014)
Wang, C., Li, W., Chen, W., Wang, Y., Liu, M., Gao, F.: Autonomous landing control of quadrotor UAVs. In: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), pp. 276–280. IEEE (2015)
Wang, W., Ma, H., Sun, C.: A combined MRSMC/MBC altitude controller for a quad-rotor UAV. In: Sun, C., Fang, F., Zhou, Z.-H., Yang, W., Liu, Z.-Y. (eds.) IScIDE 2013. LNCS, vol. 8261, pp. 731–739. Springer, Heidelberg (2013). doi:10.1007/978-3-642-42057-3_92
Wei, S., Dan, G., Chen, H.: Altitude data fusion utilising differential measurement and complementary filter. IET Sci. Measur. Technol. 10, 874–879 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Ga̧sior, P., Bondyra, A., Gardecki, S. (2017). Development of Vertical Movement Controller for Multirotor UAVs. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_31
Download citation
DOI: https://doi.org/10.1007/978-3-319-54042-9_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-54041-2
Online ISBN: 978-3-319-54042-9
eBook Packages: EngineeringEngineering (R0)