Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

2022 ◽  
Author(s):  
Moussa Labbadi ◽  
Yassine Boukal ◽  
Mohamed Cherkaoui
Keyword(s):  
Nonlinear Control ◽  
Unmanned Aerial Vehicle ◽  
Robust Nonlinear Control ◽  
Aerial Vehicle

scholarly journals РОБАСТНОЕ УПРАВЛЕНИЕ БЕСПИЛОТНЫМ ЛЕТАТЕЛЬНЫМ АППАРАТОМ ПРИ НЕОПРЕДЕЛЕННЫХ СКОРОСТЯХ

2018 ◽  
pp. 4-12
Author(s):  
Будиба Уиссам
Keyword(s):  
Control System ◽  
Robust Control ◽  
Nonlinear Control ◽  
Unmanned Aerial Vehicle ◽  
Quality Criteria ◽  
Nominal Model ◽  
Ansys Cfx ◽  
Aerial Vehicle ◽  
Aerodynamic Parameters ◽  
Aerodynamic Lift

This paper presents the method for implementing robust control using a nominal model of an unmanned aerial vehicle (UAV). The operation of a classical controller in a nonlinear control system in the event of disturbing influences does not satisfy the specified quality criteria. This changes the aerodynamic parameters, and the system becomes unstable. To eliminate unwanted deviations in the control system of the aircraft introduced robust control. The introduction of such a correction control signal allows you to fend off all sorts of failures and disturbances that lead to uncontrolled control. Changes in the aerodynamic lift coefficients, coefficient of resistance, and moments affect the model of the object. The nominal model is calculated by calculating the coefficients with the ANSYS-CFX software and the calculation is confirmed experimentally. Errors are also modeled by this software, and the ranges of variation of each coefficient are a set of failures.

scholarly journals Robust Nonlinear Control of BLDC Motor in Quadcopter Applications

2016 ◽  
Vol 13 (2) ◽  
Author(s):  
Steven Elliott ◽  
Thomas Carr
Keyword(s):  
Motor Control ◽  
Control System ◽  
Lyapunov Function ◽  
Unmanned Aerial Vehicle ◽  
Nonlinear Effects ◽  
Robust Nonlinear Control ◽  
Control Lyapunov Function ◽  
Model And Simulation ◽  
Aerial Vehicle ◽  
Motor Control System

This paper describes the development of a nonlinear closed loop motor control system for a quadcopter micro-unmanned aerial vehicle (micro-UAV) platform. Research groups have analyzed the performance of brushless direct current (BLDC) motors with nonlinear effects in various applications, focusing on areas such as friction’s effect on position. This paper analyzes the nonlinear effects of BLDC motors on speed when these motors are used in quadcopter flying robots. Notably, to account for nonlinear torque from the aerodynamic forces on a quadcopter rotor, a Control Lyapunov Function (CLF) approach is used in designing a stable feedback control system. The paper also explains the custom model and simulation of the system built in MATLAB/Simulink used to demonstrate and quantify the successful performance of the design. KEYWORDS: Control Lyapunov Function; Micro-Unmanned Aerial Vehicle; Aerial Robotics; Quadcopters; Nonlinear Motor Control

Full-state modeling and nonlinear control of balloon supported unmanned aerial vehicle

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Naveed Mazhar ◽  
Fahad Mumtaz Malik ◽  
Raja Amer Azim ◽  
Abid Raza ◽  
Rameez Khan ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Nonlinear Control ◽  
Unmanned Aerial Vehicle ◽  
Degrees Of Freedom ◽  
Nonlinear Controller ◽  
Content Type ◽  
Aerial Vehicles ◽  
Proposed Model ◽  
Full State ◽  
Aerial Vehicle

Purpose The purpose of this study is to provide the full-state mathematical model and devise a nonlinear controller for a balloon-supported unmanned aerial vehicle (BUAV). Design/methodology/approach Newtonian mechanics is used to establish the nonlinear mathematical model of the proposed vehicle assembly which incorporates the dynamics of both balloon and quadrotor UAV. A controllable form of the nine degrees of freedom model is derived. Backstepping control is designed for the proposed model and simulations are performed to assess the tracking performance of the proposed control. Findings The results show that the proposed methodology works well for smooth trajectories in presence of wind gusts. Moreover, the final mathematical model is affine and various nonlinear control techniques can be used in the future for improved system performance. Originality/value Multi-rotor unmanned aerial vehicles (MUAVs) are equipped with controllers but are constrained by smaller flight endurance and payload carrying capability. On the contrary, lighter than air (LTA) aerial vehicles have longer flight times but have poor control performance for outdoor operations. One of the solutions to achieve better flight endurance and payload carrying capability is to augment the LTA balloon to MUAV. The novelty of this research lies in full-order mathematical modeling along with transformation to controllable form for the BUAV assembly.

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