Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

PI Controller: Design01:24

PI Controller: Design

157
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
157

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

eFFT: An Event-Based Method for the Efficient Computation of Exact Fourier Transforms.

IEEE transactions on pattern analysis and machine intelligence·2024
Same author

Exponential and robust position-constrained control of robot manipulators via diffeomorphisms.

ISA transactions·2023
Same author

Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment.

ISA transactions·2023
Same author

How ornithopters can perch autonomously on a branch.

Nature communications·2022
Same author

Aeroelastics-aware compensation system for soft aerial vehicle stabilization.

Frontiers in robotics and AI·2022
Same author

Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance.

Sensors (Basel, Switzerland)·2021

Related Experiment Video

Updated: May 16, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.5K

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

Antonio Gonzalez-Morgado1, Saeed Rafee Nekoo1, Guillermo Heredia1

  • 1The GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Seville, 41092, Spain.

ISA Transactions
|April 6, 2025
PubMed
Summary

This study introduces a novel drone for pipeline inspection, the bidirectional-thruster multirotor for perimeter pipeline inspection (BiMPPI). BiMPPI can land on pipes and rotate around them, outperforming existing controllers in experimental tests.

Keywords:
Bidirectional-thruster quadrotorIntegral-SDRERotation around pipeServo designUAV

More Related Videos

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K
Evaluation of an Exclusive Spur Dike U-Turn Design with Radar-Collected Data and Simulation
11:41

Evaluation of an Exclusive Spur Dike U-Turn Design with Radar-Collected Data and Simulation

Published on: February 1, 2020

20.2K

Related Experiment Videos

Last Updated: May 16, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

1.5K
Optimization, Test and Diagnostics of Miniaturized Hall Thrusters
12:22

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

8.9K
Evaluation of an Exclusive Spur Dike U-Turn Design with Radar-Collected Data and Simulation
11:41

Evaluation of an Exclusive Spur Dike U-Turn Design with Radar-Collected Data and Simulation

Published on: February 1, 2020

20.2K

Area of Science:

  • Robotics
  • Aerospace Engineering
  • Control Systems

Background:

  • Pipeline inspection is crucial for infrastructure maintenance.
  • Current inspection methods face limitations in maneuverability and accessibility.
  • Multirotor drones offer potential but require advanced control for complex maneuvers.

Purpose of the Study:

  • To present a novel bidirectional-thruster multirotor for perimeter pipeline inspection (BiMPPI).
  • To enable stable pipe landing, rotation, and contact-based maneuvering.
  • To evaluate the performance of an integral state-dependent Riccati equation (SDRE) controller for rotational movements.

Main Methods:

  • Design and implementation of a bidirectional-thruster multirotor system.
  • Development of an integral state-dependent Riccati equation (SDRE) controller for pipe rotation.
  • Comparative analysis through simulations between integral SDRE and servo-SDRE controllers.
  • Experimental validation of the BiMPPI platform in indoor flight tests.

Main Results:

  • The BiMPPI platform successfully demonstrated the ability to land on and rotate around a pipe.
  • The integral SDRE controller showed comparable performance to the servo-SDRE controller in simulations, simplifying implementation.
  • Experimental results confirmed superior rotational performance of BiMPPI compared to SDRE and PID controllers.

Conclusions:

  • The developed BiMPPI system offers a novel solution for enhanced pipeline inspection.
  • The integral SDRE controller provides an effective and computationally efficient control strategy for pipe-based maneuvers.
  • The experimental validation confirms the practical viability and performance advantages of the BiMPPI platform.