Open AccessControl of a Tilting Hexacopter under Wind Disturbance
Author(s) -
Hao Xu,
Zhong Yang,
Kaiwen Lu,
Chao-Jiang Xu,
Qiuyan Zhang
Publication year - 2020
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2020/9465153
Subject(s) - control theory (sociology) , attitude control , controller (irrigation) , rotor (electric) , position (finance) , aerodynamics , nonlinear system , engineering , observer (physics) , noise (video) , compensation (psychology) , computer science , control engineering , control (management) , artificial intelligence , aerospace engineering , physics , mechanical engineering , psychology , agronomy , finance , quantum mechanics , psychoanalysis , economics , biology , image (mathematics)
Multicopters are well suited for executing fast maneuvers with high velocity, but they are still affected by the external atmospheric environment because attitude and position cannot be independently controlled. In this paper, we present a novel hexacopter which improves the wind resistance and strong coupling between attitude control and position control. The copter is designed such that the rotor sections can tilt around their respective arm axes. We present the aerodynamic methods to analyze the system dynamics model in windy environments. The entire system is decomposed into six loops based on the model, and the presented flight controller uses the ADRC method to consider both the attitude and the position. The controller introduces the extended state observer to estimate the white noise and wind disturbance. We use the nonlinear state error feedback law to control the output with disturbance compensation. Finally, we linearize the control allocation matrix that the controllers output directly mapped to the rotor velocities and tilting angles. The new theoretical results are thoroughly validated through comparative experiments.