Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Study of the Influence of a Nonlinear Control Allocation Frequency Variation on a Quadrotor Tilt-Rotor Aircraft Stability

Version 1 : Received: 4 July 2021 / Approved: 5 July 2021 / Online: 5 July 2021 (09:30:01 CEST)

How to cite: dos Santos, M.F.; Mercorelli, P.; Honório, L.D.M.; da Silva, M.F.; Vidal, V.F. Study of the Influence of a Nonlinear Control Allocation Frequency Variation on a Quadrotor Tilt-Rotor Aircraft Stability. Preprints 2021, 2021070081 (doi: 10.20944/preprints202107.0081.v1). dos Santos, M.F.; Mercorelli, P.; Honório, L.D.M.; da Silva, M.F.; Vidal, V.F. Study of the Influence of a Nonlinear Control Allocation Frequency Variation on a Quadrotor Tilt-Rotor Aircraft Stability. Preprints 2021, 2021070081 (doi: 10.20944/preprints202107.0081.v1).

Abstract

This paper presents a study on the influence of the frequency variation of a nonlinear1 control allocation technique execution, developed by the author [1], named by Fast Control2 Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The3 Loop (SITL) simulation, the proposed work considers the use of Gazebo, QGroundControl, and4 Matlab applications, where different frequencies of the FCA can be implemented separated in5 Matlab, always analyzing the QTR stability conditions from the virtual environment performed in6 Gazebo. TheresultsshowedthattheFCAneedsatleast200HzoffrequencyfortheQTRsafeflight7 conditions, i. e., 2 times smaller than the main control loop frequency, 400 Hz. Lower frequencies8 than this one would case instability or crashes during the QTR Operation.

Subject Areas

Over-Actuated Unmanned Aerial Vehicle; Nonlinear Control Allocation; Software In10 The Loop; Threshold Time

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