Research round 1 (oct 7, 2021)

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• https://www.hindawi.com/journals/mpe/2020/9465153/

• Describes & compares two methods of hexacopter control

  • See Hexacopter Flight Performance Comparison with CCA vs WCA Control Allocation

  • https://www.scopus.com/record/display.uri?eid=2-s2.0-85092198779&origin=resultslist&sort=plf-f&src=s&nlo=&nlr=&nls=&sid=b7fa53d441962cc42fa7833639cbe68c&sot=b&sdt=b&sl=34&s=TITLE-ABS-KEY%28Hexacopter+Controls%29&relpos=26&citeCnt=0&searchTerm=

• PID tuning of hexacopters

  • https://ocul-wtl.primo.exlibrisgroup.com/permalink/01OCUL_WTL/3b6rcr/cdi_gale_infotracacademiconefile_A568601537

  • https://onlinelibrary-wiley-com.proxy.lib.uwaterloo.ca/doi/epdf/10.1002/acs.2955

  • Most proposed implementations use PID’s?

  • N-rotor drones are “nonlinear-underactuated systems” what does thaht even MEAN

    • hard to use PID control directly?

  • Other proposed artificial intelligence and dynamic properties? → single neuron PID.

    • → self tuning PID’s (basically single neuron).

    • online tuning of PID ?

    • → agaussion potential function network PID or FPGN NN ?

    • → gradient descent based methodology for online adjustments.

  • This paper proposes an adaptive neural PID

    • can be used in any multilple-input-multiple-output (MIMO) nonlinear system.

    • exact model of the system does not need to be known.

    • design is straightforward (totally hahahahahahahaha) and rooted in the topology of adynamic NN (adaptable)

    • can be adjusted online (which we won’t be doing either? unless comms has something spicy).

  • Then gets into really fancy math that I don’t quite understand.

• Backstepping control for hexacopter UAV’s

  • https://ocul-wtl.primo.exlibrisgroup.com/permalink/01OCUL_WTL/3b6rcr/cdi_doaj_primary_oai_doaj_org_article_94b8abf479f4432ba1b94ef54a58040d

• Mathematical Modelling & control of a hexacopter

  • https://ocul-wtl.primo.exlibrisgroup.com/discovery/fulldisplay?docid=cdi_ieee_primary_6564793&context=PC&vid=01OCUL_WTL:WTL_DEFAULT&lang=en&search_scope=OCULDiscoveryNetwork&adaptor=Primo Central&tab=OCULDiscoveryNetwork&query=any,contains,hexacopter control&offset=10

• Automatic Hexacopter tuning

  • https://ocul-wtl.primo.exlibrisgroup.com/discovery/fulldisplay?docid=cdi_ieee_primary_8107127&context=PC&vid=01OCUL_WTL:WTL_DEFAULT&lang=en&search_scope=OCULDiscoveryNetwork&adaptor=Primo Central&tab=OCULDiscoveryNetwork&query=any,contains,hexacopter control&offset=10

• Implementation of mathematical model for hexacopter systems

  • https://ocul-wtl.primo.exlibrisgroup.com/discovery/fulldisplay?docid=cdi_ieee_primary_9011842&context=PC&vid=01OCUL_WTL:WTL_DEFAULT&lang=en&search_scope=OCULDiscoveryNetwork&adaptor=Primo Central&tab=OCULDiscoveryNetwork&query=any,contains,hexacopter control&offset=0

• Navigation and Autonomous Control of a Hexacopter in Indoor Environments

  • https://lup.lub.lu.se/luur/download?func=downloadFile&recordOId=4359940&fileOId=4359943

  • tells us a bit about the maths behind modelling → might be useful if we decide to matlab it?

  • also tells us about some estimation & control theory. → might be quite nice actually.

• Dynamic modeling and Control of a HexaRotor using Linear and Nonlinear Methods

  • https://www.ijais.org/research/volume9/number5/moussid-2015-ijais-451411.pdf

  • also quite good maths

  • introduced simple PID control for the hexarotor

  • also introduced attittude controlers & backstepping controllers & sliding-mode control

• Dynamic Analysis of a Hexacopter controlled via LQR-PI

  • https://www.researchgate.net/publication/260829387_Dynamic_Analysis_of_a_Hexacopter_Controlled_via_LQR-PI

  • no actual clue what this does but PI control vs PID is interestinggggg.

  • also brings in a mathematical model to simulate.

    • has been verified in simulink/matlab.

• Real time tuning of hexacopter controls

  • https://link.springer.com/article/10.1007%2Fs10846-021-01441-y

• A really FANCY ML way of getting controls (probably too fancy)

  • https://ocul-wtl.primo.exlibrisgroup.com/discovery/openurl?institution=01OCUL_WTL&vid=01OCUL_WTL:WTL_DEFAULT&%3Fsid=Elsevier:Scopus&_service_type=getFullTxt&issn=21682216&isbn=&volume=51&issue=4&spage=2525&epage=2535&pages=2525-2535&artnum=8721510&date=2021&id=doi:10.1109%2FTSMC.2019.2915950&title=IEEE Transactions on Systems, Man, and Cybernetics: Systems&atitle=Stable Adaptive Controller Based on Generalized Regression Neural Networks and Sliding Mode Control for a Class of Nonlinear Time-Varying Systems&aufirst=A.J.&auinit=A.J.&auinit1=A&aulast=Al-Mahasneh

• Hexacopter Trajectory planning (not very relevant to us but maybe more for PM)

  • https://www.scopus.com/record/display.uri?eid=2-s2.0-85092492931&origin=resultslist&sort=plf-f&src=s&sid=b7fa53d441962cc42fa7833639cbe68c&sot=b&sdt=b&sl=34&s=TITLE-ABS-KEY%28Hexacopter+Controls%29&relpos=13&citeCnt=2&searchTerm=

• Set of articles regarding the programming of an Attitude Manager for a drone

  • https://reefwing.medium.com/how-to-write-your-own-flight-controller-software-part-4-8d4c9ce4319

  • Common Tasks for all methods

Sources: Sensor Fusion

• Sensor Fusion - Required to compute roll/pitch/yaw angle based on the accelerometer and gyro values of the IMU

  • Madgwick

  • Mahoney

  • FIR

Sources (Simulation)

• Matlab and simulink Hexacopter simulation?

  • https://www.irjet.net/archives/V4/i3/IRJET-V4I3426.pdf

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