Enhancing Robustness: Delay-Based Control and Observer Strategies for Tilt-Rotor Quadrotors Conference Paper uri icon

abstract

  • This paper presents a new control scheme, named the Proportional Delayed Integral (PδI) controller, for achieving tracking tasks on a tilt-rotor quadrotor. The proposed approach integrates a nonlinear disturbance observer, which effectively mitigates adverse effects stemming from parametric inaccuracies or unknown forces. By enhancing the traditional quadrotor with a tilting mechanism, the operational range is extended, enabling interaction with the surroundings via a robotic arm with one degree of freedom. To ensure precision and adaptability during operations, a comprehensive mathematical model has been meticulously developed, accurately reflecting the unique capabilities of the drone. The synergistic combination of the PδI controller with the nonlinear disturbance observer empowers the tilt-rotor quadrotor to tackle complex tasks with efficiency and reliability. Through rigorous numerical simulations demonstrating the effectiveness of this design, this study lays the foundation for a new era of highly functional and versatile drones, poised to revolutionize various industries and applications. © 2024 IEEE.

publication date

  • 2024-01-01