On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Mathematics

Ruben Tapia-Olvera¹  Irvin Lopez-Garcia²  Francisco Beltran-Carbajal²  Hugo Yañez-Badillo³  Antonio Favela-Contreras⁴  Antonio Valderrabano-Gonzalez⁵ 

[1] Departamento de Energía Eléctrica, Universidad Nacional Autónoma de México, Mexico City 04510, Mexico;Departamento de Energía, Universidad Autónoma Metropolitana, Unidad Azcapotzalco, Av. San Pablo No. 180, Col. Reynosa Tamaulipas, Mexico City 02200, Mexico;Departamento de Investigación, Tecnológico de Estudios Superiores de Tianguistenco, Santiago Tianguistenco 52650, Mexico;Escuela de Ingeniería y Ciencias, Tecnologico de Monterrey, Av. Eugenio Garza Sada 2501, Monterrey 64849, Mexico;Facultad de Ingeniería, Universidad Panamericana, Álvaro del Portillo 49, Zapopan 45010, Mexico;

关键词: vibration control;    dynamic vibration absorbers;    aerial vehicles;    quadrotor;    motion tracking control;   

DOI  :  10.3390/math10020235

来源: DOAJ

【 摘 要 】

Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

【 授权许可】

Unknown