Polynomial Chaos-based analysis of Multirotor Aerial Vehicles Model Subjected to Uncertainties

Igor Afonso Acampora Prado¹; Davi Ferreira de Castro¹; Mateus de Freitas Virgílio Pereira¹; Davi Antônio dos Santos¹; José Manoel Balthazar¹

¹ Instituto Tecnológico de Aeronáutica (ITA)

doi:10.20906/CPS/CON-2016-1213

Resumo

Uncertainties are ubiquitous in mathematical equations that represent physical models and may come from unknown plant parameters or from the purposeful choice of a simplified representation of the system dynamics. In case of Multirotor Aerial Vehicles (MAVs), which have become interesting for applications where manned operations are considered inefficient and dangerous for humans, uncertainties such as inaccurate parameters, neglect of gyroscopic effect, blade flapping, as well as, wind gusts can have strong adverse effects on the system behavior. This paper uses the Polynomial Chaos Expansion method to propagate uncertainties in the multirotor model and characterize the effects over the vehicle trajectory, considering constraints on both the total thrust magnitude and the inclination of the rotor plane in the design of the position control. The Polynomial Chaos method constructs meta-models that accurately mimic the behavior of systems with uncertainty about the mean of stochastic inputs. The uncertainties are described in terms of normal distribution. The results are compared with Monte Carlo simulations.

Palavras-chave: Uncertainty; Polynomial Chaos; Multirotor Aerial Vehicles