Work

Bidirectional-thruster multirotor for perimeter pipe inspections (BiMPPI): A nonlinear optimal integral-SDRE design

Year: 2025

Type: article

Abstract: This paper presents a novel bidirectional-thruster multirotor for perimeter pipeline inspection (BiMPPI). The bidirectional thrusters enable the generation of negative collective thrust, allowing BiMPPI to land on the pipe, reverse motor thrust directions, and push against the pipe while rotating around it without losing physical contact. An integral state-dependent Riccati equation (SDRE) controller is used during the turning phase around the pipe. The integral SDRE controller is compared through simulations with the servo-SDRE controller, exhibiting similar performance while eliminating the need for an online solution to the SDRE. The platform is experimentally validated through indoor flights, demonstrating superior performance in rotational movements around a mockup pipeline compared to both SDRE and standard PID controllers. • A bidirectional-thruster multirotor is employed for perimeter pipeline inspection. • Unidirectional-thruster multirotors cannot reverse the direction of thrust. • Then, it is impossible to push and rotate around a pipe. • The controller for rotation is integral state-dependent Riccati equation (SDRE). • Proposed platform is validated through indoor flights, rotating around PVC pipeline.

Source: ISA Transactions

DOI: 10.1016/j.isatra.2025.03.015

Authors: Antonio Gonzalez-Morgado, Saeed Rafee Nekoo, Guillermo Heredia, Anibal Ollero

Institution: Universidad de Sevilla

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Estimated APC paid: $4,150