Twisting controller of trajectory for a 6dof base motion: Application to quadrotor flight simulation training device

Rocio Yemima Zavala; Eusebio Eduardo Hernández; Manuel Mera

doi:10.1007/978-3-030-60372-4_26

Twisting controller of trajectory for a 6dof base motion: Application to quadrotor flight simulation training device

Rocio Yemima Zavala, Eusebio Eduardo Hernández, Manuel Mera

Research output: Contribution to journal › Article › peer-review

Abstract

In this contribution, the general Gough-Stewart platform model is used as the motion system towards the implementation of a Quadrotor pilot trainer. For this aim, a Twisting controller is implemented to track the equivalent forces given by a Quadrotor, these equivalent forces are generated in such way that a user who is sitting on it feels the equivalent effects of the acceleration forces on the Quadrotor. Simulation results of trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm and considering the equivalent effects modeling from acceleration forces affecting the aerial vehicle.

Original language	English
Pages (from-to)	229-236
Number of pages	8
Journal	Mechanisms and Machine Science
Volume	94
DOIs	https://doi.org/10.1007/978-3-030-60372-4_26
State	Published - 2021

Keywords

Parallel robot
Pilot training system
Quadrotor equivalent forces
Trajectory tracking
Twisting control scheme

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10.1007/978-3-030-60372-4_26

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title = "Twisting controller of trajectory for a 6dof base motion: Application to quadrotor flight simulation training device",

abstract = "In this contribution, the general Gough-Stewart platform model is used as the motion system towards the implementation of a Quadrotor pilot trainer. For this aim, a Twisting controller is implemented to track the equivalent forces given by a Quadrotor, these equivalent forces are generated in such way that a user who is sitting on it feels the equivalent effects of the acceleration forces on the Quadrotor. Simulation results of trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm and considering the equivalent effects modeling from acceleration forces affecting the aerial vehicle.",

keywords = "Parallel robot, Pilot training system, Quadrotor equivalent forces, Trajectory tracking, Twisting control scheme",

author = "Zavala, {Rocio Yemima} and Hern{\'a}ndez, {Eusebio Eduardo} and Manuel Mera",

note = "Publisher Copyright: {\textcopyright} 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.",

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T1 - Twisting controller of trajectory for a 6dof base motion

T2 - Application to quadrotor flight simulation training device

AU - Zavala, Rocio Yemima

AU - Hernández, Eusebio Eduardo

AU - Mera, Manuel

PY - 2021

Y1 - 2021

N2 - In this contribution, the general Gough-Stewart platform model is used as the motion system towards the implementation of a Quadrotor pilot trainer. For this aim, a Twisting controller is implemented to track the equivalent forces given by a Quadrotor, these equivalent forces are generated in such way that a user who is sitting on it feels the equivalent effects of the acceleration forces on the Quadrotor. Simulation results of trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm and considering the equivalent effects modeling from acceleration forces affecting the aerial vehicle.

AB - In this contribution, the general Gough-Stewart platform model is used as the motion system towards the implementation of a Quadrotor pilot trainer. For this aim, a Twisting controller is implemented to track the equivalent forces given by a Quadrotor, these equivalent forces are generated in such way that a user who is sitting on it feels the equivalent effects of the acceleration forces on the Quadrotor. Simulation results of trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm and considering the equivalent effects modeling from acceleration forces affecting the aerial vehicle.

KW - Parallel robot

KW - Pilot training system

KW - Quadrotor equivalent forces

KW - Trajectory tracking

KW - Twisting control scheme

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DO - 10.1007/978-3-030-60372-4_26

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SN - 2211-0984

VL - 94

SP - 229

EP - 236

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Twisting controller of trajectory for a 6dof base motion: Application to quadrotor flight simulation training device

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