Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion
Given the large flight envelope of vertical take-off and landing vehicles, and the nonlinear nature of multirotor aircraft, especially in aggressive maneuvering, nonlinear control strategies are often considered. Yet, most available solutions are model dependent and thus require a precise knowledge of the system dynamics, including the hard to model aerodynamics. This paper proposes a sensor-based approach to the problem. It considers a recent strategy based on incremental control and Nonlinear Dynamics Inversion (NDI), the Incremental Nonlinear Dynamics Inversion (INDI), to solve the attitude control problem of quadrotors. The INDI general formulation is presented, and then applied considering the attitude stabilization of a quadrotor. In order to apply the INDI solution to this case study, a linear predictor for the angular acceleration is provided. Simulation results demonstrate the robustness of this sensor-based approach to model-parameter uncertainties and wind disturbances. An analysis is also done regarding the tuning of INDI parameters and its sensitivity to the chosen sampling time.
Lateral Control of Airship with Uncertain Dynamics using Incremental Nonlinear Dynamics Inversion
Abstract This paper addresses the lateral control of an underactuated airship with uncertain dynamics model. It proposes an incremental nonlinear dynamics inversion (INDI) approach to successfully achieve the system desired behavior without requiring the knowledge and realtime feedback of the airship state-only dependent dynamics, namely kinematics, gravitational and (part of) aerodynamic forces, mandatory for model-based control strategies. The stability and robustness of the proposed sensor-based control solution are assessed with representative simulation results, including wind disturbances and a path following loop.
Experimental Study on Acoustic Agglomeration of Fine Particles from Coal Combustion
The removal of fine particles in coal-fired fumes was experimentally studied based on acoustic agglomeration. An experiment facility was designed and set up. In this facility, a fluidized bed coal combustor was used as fume generator, and an Electrical Low Pressure Impact or (ELPI) was used to measure the fine particle concentration and size distribution in the fumes. The results show that under the effect of high intensity sound waves, there is good performance to remove fine particles in coal-fired fumes, which with a number mean diameter of 0.07μm. Especially, under the conditions of the frequency of 1 000Hz and the sound intensity of 161.5dB, the number concentration of 0.0233~9.314μm particles decreased by 85.2%, and their mass concentration decreased by 92.5%.