Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

The current work exploits the effects of time-delays on the stability of unmanned aerial vehicles s). In this regard, the main contribution is a symbolic/numeric application of the multiplicity-induced-dominancy property in the control of unmanned aerial vehicles rotorcrafts featuring time-delays. T...

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Bibliographic Details
Published in:Journal of vibration and control 2023-06, Vol.29 (11-12), p.2593-2608
Main Authors: Castillo-Zamora, José J, Boussaada, Islam, Benarab, Amina, Escareno, Juan
Format: Article
Language:English
Subjects:
Automatic
Characteristic functions
Closed loops
Engineering Sciences
Feedback control
Mathematics
Nonlinear dynamics
Rotors
Tilting rotors
Unmanned aerial vehicles
Unmanned helicopters
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Summary:The current work exploits the effects of time-delays on the stability of unmanned aerial vehicles s). In this regard, the main contribution is a symbolic/numeric application of the multiplicity-induced-dominancy property in the control of unmanned aerial vehicles rotorcrafts featuring time-delays. The multiplicity-induced-dominancy property is considered to address two of the most representative aerial robotic platforms: a classical quadrotor vehicle and a quadrotor vehicle endowed with tilting rotors. The aforementioned property leads to an effective delayed feedback control design (multiplicity-induced-dominancy tuning criteria), allowing the system to meet prescribed behavior conditions based on the placement of the rightmost root of the corresponding closed-loop characteristic function/quasipolynomial. Lastly, the results of detailed numerical simulations, including the linear and non-linear dynamics of the vehicle, are presented and discussed to validate the proposal.
ISSN:1077-5463
1741-2986
DOI:10.1177/10775463221082718