Building a controller for a high-rise firefighting drone
131 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.CAPITI.2024.105-111Keywords:
Backstepping control; Firefighting drones; UAVs.Abstract
On the basis of a dynamic model describing the movement of high-rise firefighting drones built by the authors using the Newton - Euler method as published, this article researches and builds a controller to stably control firefighting drones in normal motion and when the system launches the firefighting rocket for high-rise buildings in Vietnam. Due to the nature of the control object, the article chooses to use a rolling-integral controller combined with a feedforward compensation controller for the firefighting missile launch stage to perform the above task. Simulation results on Matlab/simulink show that the system is stable at the reference position and meets the requirements of the problem.
References
[1]. K. Himoto, Y. Akimoto, A. Hokugo, and T. Tanaka, "Risk and behavior of fire spread in a densely-built urban area," Fire Safety Science, Vol. 9, pp. 267-278, (2008). DOI: https://doi.org/10.3801/IAFSS.FSS.9-267
[2]. S. Kurak and M. Hodzic, "Control and estimation of a quadcopter dynamical model," Periodicals of Engineering Natural Sciences, Vol. 6, No. 1, pp. 63-75, (2018). DOI: https://doi.org/10.21533/pen.v6i1.164
[3]. C. A. Cárdenas Ruiz, "Performance study of the flight control and path planning for a UAV type Quadrotor," Ingeniería Mecatrónica, (2018).
[4]. S. Bouabdallah, "Design and control of quadrotors with application to autonomous flying," Epfl, (2007).
[5]. F. Sabatino, "Quadrotor control: modeling, nonlinear control design, and simulation," ed, (2015).
[6]. T. Luukkonen, "Modelling and control of quadcopter," Independent research project in applied mathematics, Espoo, Vol. 22, p. 22, (2011).
[7]. D. Li, H. Wang, and W. Gai, "Application of a feedforward controller with a disturbance observer for UAV during missile launch," in 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), pp. 2811-2815: IEEE, (2011).
[8]. Noudeh Mehran Ebadollahi, "Design and control of X5 unmanned aerial robot," Middle East Technical University, (2015).
[9]. N. D. Anh, P. H. Hai, N. T. H. Hanh, N. Q. Vinh, "The dynamic model of a high-rise firefighting drone". Computer research and modeling, Vol.14, No.1, pp 115–126, (2022), doi: 10.20537/2076-7633-2022-14-1-115-126. DOI: https://doi.org/10.20537/2076-7633-2022-14-1-115-126
[10]. Elkholy H M, "Dynamic Modeling and Control of a Quadrotor using Linear and Nonlinear Approaches" Thesis, American University in Cairo, (2014).
[11]. Radu V., Tiberiu A., Schmidt K., Saqib M. "Use of drones for firefighting operations", (2019).
