PSO-based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor
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(2020) 42:555
TECHNICAL PAPER
PSO‑based online estimation of aerodynamic ground effect in the backstepping controller of quadrotor Hasan Keshavarzian1 · Kamran Daneshjou1 Received: 26 September 2019 / Accepted: 3 September 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
Abstract Stability of landing and forward flight of unmanned aerial vehicles near the ground is one of the challenging problems in the quadrotor control system. In real-time operation, when the rotary-wing vehicle flies close to the ground, the thrust increases are called ground effect. According to the flight and environmental conditions and the quality of ground surface, the aerodynamic ground effect is varied continuously. In this paper, a backstepping controller is designed and adjusted by using particle swarm optimization. Controller adjustment is referred to as the process of online estimation of the ground effect in various conditions. The stability analysis is performed and guaranteed by Lyapunov theory. The simulation results indicate that the proposed method is highly practical and capable of tracking the desired trajectory appropriately. Keywords Quadrotor · Ground effect · Particle swarm optimization · Backstepping control · Online estimation
1 Introduction Nowadays, due to the recent advances in technology, the applications of unmanned aerial vehicles (UAVs) are expanding in various industries. So, based on mission type, the needs for more accurate parameters identification methods and designing more precise control system are felt more than ever before. According to the unique features of quadrotor such as vertical take-off and landing, hovering, maneuverability and flight in an indoor environment have led many researchers to investigate the implementation of control systems. The quadrotor is an under-actuated system and also has parameter uncertainties, and aerodynamic disturbances and nonlinear and time-varying behavior cause instability in quadrotor flight. One challenging problem related to the quadrotor aerial vehicle is landing procedure and forward flight near the ground. Many researchers have investigated characterization of this phenomenon [1–5]. They found that, when the rotarywing craft flies near the ground, the interaction between rotor Technical Editor: André Cavalieri. * Kamran Daneshjou [email protected] 1
Department of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
wake and ground surface leads to increase in the thrust force. This cushion pressure is called ground effect. The operation at this position generates aerodynamic perturbations and reduces the handling quality and stability. So, many studies have been done to find an appropriate relation between the in ground effect thrust and flight parameters [6–8]. Most of the models are analytical or experimental which they are not validated for different environmental conditions exactly. The ground effect depends on many parameters such as type of rotorcraft configuration (single rotor or multirotor), gro
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