Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs
2020 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)(2020)
Abstract
Bi-copter UAVs have emerged as more agile and energetically efficient flying platforms than quadrotor UAVs. Yet, they are more challenging to control due to the use of servo motors leading to non-minimum phase roll dynamics. In this paper, we systematically investigate the modeling, identification, and control of such non-minimum phase dynamics in an integrated way. We start with deriving the first principle model, from which the cause of the non-minimum phase is clearly seen. Parameters of the derived model are identified via experiments and subsequently used to design and analyze a high-gain robust flight controller via H-infinity loop shaping techniques. The designed controller is implemented on actual systems and compared against a well-tuned PID controller. Extensive flight tests are conducted to verify the controller's effectiveness and the effect of the system's non-minimum phase nature.
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Key words
agile flying platforms,energetically efficient flying platforms,quadrotor UAVs,nonminimum phase roll dynamics,nonminimum phase dynamics,principle model,high-gain robust flight controller,PID controller,system,Bi-copter UAVs
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