Modeling and Control of JetQuad Aerial Robot

Haonan Tang; Peikang Zhang; Chengchao Bai

doi:10.1109/ICUS55513.2022.9987081

Modeling and Control of JetQuad Aerial Robot

Haonan Tang
, Peikang Zhang
, Chengchao Bai

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

The payload of the electric aerial robot is always not very large which leads to limited usage scenarios, so the research of jet aerial robots has become popular recently. This paper proposes a dynamic modeling and linearization method for a class of JetQuad aerial robots with rotatable vectoring nozzles. Meanwhile, a thrust vector control method is proposed. By transforming the control allocation problem into a nonlinear multi-objective optimization problem, the design control law can adapt to the dynamic response characteristics of the jet thrust and the vector mechanism. Taking JetQuad designed by US company FusionFlight as an example, simulation verification is performed in two scenarios of square trajectory tracking and circular trajectory tracking, which proves the effectiveness of the proposed thrust vector control method.

Original language	English
Title of host publication	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1010-1015
Number of pages	6
ISBN (Electronic)	9781665484565
DOIs	https://doi.org/10.1109/ICUS55513.2022.9987081
State	Published - 2022
Event	2022 IEEE International Conference on Unmanned Systems, ICUS 2022 - Guangzhou, China Duration: 28 Oct 2022 → 30 Oct 2022

Publication series

Name	Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

Conference

Conference	2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Country/Territory	China
City	Guangzhou
Period	28/10/22 → 30/10/22

Keywords

JetQuad aerial robot
control allocation
dynamic modeling
multi-objective optimization
thrust vector control

Access to Document

10.1109/ICUS55513.2022.9987081

Cite this

Tang, H., Zhang, P., & Bai, C. (2022). Modeling and Control of JetQuad Aerial Robot. In R. Song (Ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 (pp. 1010-1015). (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS55513.2022.9987081

@inproceedings{196fb8271c104af795302a46c2fdb4af,

title = "Modeling and Control of JetQuad Aerial Robot",

abstract = "The payload of the electric aerial robot is always not very large which leads to limited usage scenarios, so the research of jet aerial robots has become popular recently. This paper proposes a dynamic modeling and linearization method for a class of JetQuad aerial robots with rotatable vectoring nozzles. Meanwhile, a thrust vector control method is proposed. By transforming the control allocation problem into a nonlinear multi-objective optimization problem, the design control law can adapt to the dynamic response characteristics of the jet thrust and the vector mechanism. Taking JetQuad designed by US company FusionFlight as an example, simulation verification is performed in two scenarios of square trajectory tracking and circular trajectory tracking, which proves the effectiveness of the proposed thrust vector control method.",

keywords = "JetQuad aerial robot, control allocation, dynamic modeling, multi-objective optimization, thrust vector control",

author = "Haonan Tang and Peikang Zhang and Chengchao Bai",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Unmanned Systems, ICUS 2022 ; Conference date: 28-10-2022 Through 30-10-2022",

year = "2022",

doi = "10.1109/ICUS55513.2022.9987081",

language = "英语",

series = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1010--1015",

editor = "Rong Song",

booktitle = "Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022",

address = "美国",

}

Tang, H, Zhang, P & Bai, C 2022, Modeling and Control of JetQuad Aerial Robot. in R Song (ed.), Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Institute of Electrical and Electronics Engineers Inc., pp. 1010-1015, 2022 IEEE International Conference on Unmanned Systems, ICUS 2022, Guangzhou, China, 28/10/22. https://doi.org/10.1109/ICUS55513.2022.9987081

Modeling and Control of JetQuad Aerial Robot. / Tang, Haonan; Zhang, Peikang; Bai, Chengchao.
Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2022. p. 1010-1015 (Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and Control of JetQuad Aerial Robot

AU - Tang, Haonan

AU - Zhang, Peikang

AU - Bai, Chengchao

PY - 2022

Y1 - 2022

N2 - The payload of the electric aerial robot is always not very large which leads to limited usage scenarios, so the research of jet aerial robots has become popular recently. This paper proposes a dynamic modeling and linearization method for a class of JetQuad aerial robots with rotatable vectoring nozzles. Meanwhile, a thrust vector control method is proposed. By transforming the control allocation problem into a nonlinear multi-objective optimization problem, the design control law can adapt to the dynamic response characteristics of the jet thrust and the vector mechanism. Taking JetQuad designed by US company FusionFlight as an example, simulation verification is performed in two scenarios of square trajectory tracking and circular trajectory tracking, which proves the effectiveness of the proposed thrust vector control method.

AB - The payload of the electric aerial robot is always not very large which leads to limited usage scenarios, so the research of jet aerial robots has become popular recently. This paper proposes a dynamic modeling and linearization method for a class of JetQuad aerial robots with rotatable vectoring nozzles. Meanwhile, a thrust vector control method is proposed. By transforming the control allocation problem into a nonlinear multi-objective optimization problem, the design control law can adapt to the dynamic response characteristics of the jet thrust and the vector mechanism. Taking JetQuad designed by US company FusionFlight as an example, simulation verification is performed in two scenarios of square trajectory tracking and circular trajectory tracking, which proves the effectiveness of the proposed thrust vector control method.

KW - JetQuad aerial robot

KW - control allocation

KW - dynamic modeling

KW - multi-objective optimization

KW - thrust vector control

UR - https://www.scopus.com/pages/publications/85146490689

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M3 - 会议稿件

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BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022

A2 - Song, Rong

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 28 October 2022 through 30 October 2022

ER -

Modeling and Control of JetQuad Aerial Robot

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