Tiago Pereira do Nascimento presents A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles
On 2025-01-30 11:00
at G205, Karlovo náměstí 13, Praha 2
This seminar addresses the problem of thrust estimation and control for the
rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate
control of the thrust generated by each rotor during flight is one of the main
challenges for robust control of quadrotors. The most common approach is to
approximate the mapping of rotor speed to thrust with a simple quadratic model.
This model is known to fail under non-hovering flight conditions, introducing
errors into the control pipeline. Here, we present a novel BEMT-based
closed-loop thrust estimator and control to eliminate the laborious calibration
step of finding several aerodynamic coefficients. We aim to reuse known values
as a baseline and fit the thrust estimate to values closest to the real ones
with a simple test bench experiment, resulting in a single scaling value. This
seminar will be short and 20 minutes long, following questions.
rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate
control of the thrust generated by each rotor during flight is one of the main
challenges for robust control of quadrotors. The most common approach is to
approximate the mapping of rotor speed to thrust with a simple quadratic model.
This model is known to fail under non-hovering flight conditions, introducing
errors into the control pipeline. Here, we present a novel BEMT-based
closed-loop thrust estimator and control to eliminate the laborious calibration
step of finding several aerodynamic coefficients. We aim to reuse known values
as a baseline and fit the thrust estimate to values closest to the real ones
with a simple test bench experiment, resulting in a single scaling value. This
seminar will be short and 20 minutes long, following questions.