TY - GEN
T1 - Distributed Control Algorithm for Modular Multi-rotor Unmanned Aerial Vehicle
AU - Wang, Jianan
AU - Zhang, Mingyang
AU - Xia, Kewei
AU - Wang, Chunyan
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - This paper presents a distributed control algorithm for modular multi-rotor unmanned aerial vehicle (MMUAV) which is composed by several single-rotor modules. Specifically, to accommodate the characteristic of the MMUAV, the cascade proportional-integral-differential (CPID) control algorithm of position and attitude controllers is first developed. They make up the overall control as the comparison, where a 2-paradigm based method is proposed. Then, the distribu+ted control is introduced. Behind the position controller, distributed attitude controllers with the flight control declination angle based control allocation are exploited. Finally, simulation examples validate the proposed strategy.
AB - This paper presents a distributed control algorithm for modular multi-rotor unmanned aerial vehicle (MMUAV) which is composed by several single-rotor modules. Specifically, to accommodate the characteristic of the MMUAV, the cascade proportional-integral-differential (CPID) control algorithm of position and attitude controllers is first developed. They make up the overall control as the comparison, where a 2-paradigm based method is proposed. Then, the distribu+ted control is introduced. Behind the position controller, distributed attitude controllers with the flight control declination angle based control allocation are exploited. Finally, simulation examples validate the proposed strategy.
KW - Control allocation
KW - Distributed control
KW - Modular multi-rotor unmanned aerial vehicle
KW - Single-rotor modules
UR - http://www.scopus.com/inward/record.url?scp=85151117480&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_274
DO - 10.1007/978-981-19-6613-2_274
M3 - Conference contribution
AN - SCOPUS:85151117480
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 2820
EP - 2829
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -