TY - GEN
T1 - Adaptive Control of Coupled-Multicopter Systems
AU - Chaikalis, Dimitris
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The control problem of a multi-copter swarm, physically connected within a modular lattice structure, is considered in this article. The end-to-end connected mechanical structure having as nodes, copters, is able to achieve proper flight as an entire aerial vehicle. A graph-based procedure is presented for analysing any type of structure generated by the proposed modular usage of polygons and rods. The devised controller utilizes the total thrust provided by each copter to lift the vehicle and regulate its roll and pitch angles while attempting to maximize total flight time with the use of a battery-life optimization scheme. Experimental studies are offered to illustrate the efficacy of the suggested design and controller.
AB - The control problem of a multi-copter swarm, physically connected within a modular lattice structure, is considered in this article. The end-to-end connected mechanical structure having as nodes, copters, is able to achieve proper flight as an entire aerial vehicle. A graph-based procedure is presented for analysing any type of structure generated by the proposed modular usage of polygons and rods. The devised controller utilizes the total thrust provided by each copter to lift the vehicle and regulate its roll and pitch angles while attempting to maximize total flight time with the use of a battery-life optimization scheme. Experimental studies are offered to illustrate the efficacy of the suggested design and controller.
KW - Adaptive Control
KW - Collaborating UAVs
KW - Modular Systems
UR - http://www.scopus.com/inward/record.url?scp=85136088650&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85136088650&partnerID=8YFLogxK
U2 - 10.1109/ICUAS54217.2022.9836081
DO - 10.1109/ICUAS54217.2022.9836081
M3 - Conference contribution
AN - SCOPUS:85136088650
T3 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
SP - 1375
EP - 1380
BT - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Y2 - 21 June 2022 through 24 June 2022
ER -