A multilayer neural dynamic controller design method of quadrotor UAV for completing time-varying tasks

2021 ◽  
Author(s):  
Zhijun Zhang ◽  
Tao Chen ◽  
Lunan Zheng
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Time Varying ◽  
Neural Dynamic ◽  
Quadrotor Uav ◽  
Dynamic Controller

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

2016 ◽  
Vol 20 (7) ◽  
pp. 1044-1050
Author(s):  
Wen-An Zhang ◽  
◽  
Junkai Jin ◽  
Xiang Qiu ◽  
Li Yu
Keyword(s):  
Control Problem ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Controller Design ◽  
Design Method ◽  
Smith Predictor ◽  
Time Varying ◽  
Communication Delays ◽  
Delay Compensation ◽  
Teleoperation Systems

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Periodic Sampling Interval Repetitive Control and Its Application to Variable Spindle Speed Noncircular Turning Process

1998 ◽  
Vol 122 (3) ◽  
pp. 560-566 ◽  
Author(s):  
Reed D. Hanson ◽  
Tsu-Chin Tsao
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Repetitive Control ◽  
Spindle Speed ◽  
Depth Of Cut ◽  
Time Varying ◽  
Turning Process ◽  
Noncircular Turning ◽  
Loop Stability

This paper addresses discrete-time, repetitive control for linear, periodic, time-varying systems. A periodic, repetitive control design method based on gain scheduling is proposed and the necessary and sufficient condition for closed-loop stability is presented. Utilizing the special structure of the repetitive controller, an efficient method for evaluating the closed-loop stability is developed. The algorithm is applied to the control of a piezoelectric fast-tool stage for variable spindle speed noncircular turning process. The tool performs dynamic variable depth of cut machining to generate noncircular workpiece profiles while the spindle carrying the workpiece rotates at a variable speed to inhibit machining instability (chatter). Experimental machining results are presented that demostrate the tracking performance of the period, time-varying controller design proposed, as well as the ability to increase machining stability using this approach. [S0022-0434(00)02402-3]

Robust Reliable Control for a Class of Uncertain Discrete-Time Systems with Multiple Time-Varying Delays

2012 ◽  
Vol 630 ◽  
pp. 396-401
Author(s):  
Chong Li
Keyword(s):  
Discrete Time ◽  
Controller Design ◽  
Design Method ◽  
Robust Stabilization ◽  
System Stability ◽  
Multiple Time ◽  
Reliable Control ◽  
Time Varying ◽  
Robust Reliable Control ◽  
Delay Dependent

The robust reliable control design problem of uncertain discrete-time control systems with multiple time-varying delays is addressed in this article. Uncertainty in system is assumed to satisfy the norm-bounded condition and the time-delay parameter is time-varying unstructured. Under the proposed concepts of exponentially robust stability and exponentially robust stabilization, the delay-dependent exponential stability condition for the robust reliable control system is derived and a new delay-dependent state feedback controller design method is provided. The relationship between system stability and time-delays is also studied. Simulation study shows the effectiveness and feasibility of the proposed controller design method.

scholarly journals U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems

2020 ◽  
Vol 2020 ◽  
pp. 1-11 ◽  
Author(s):  
Rui Wang ◽  
Lei Gao ◽  
Chengrui Bai ◽  
Hui Sun
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Actuator Failures ◽  
Quadrotor Uav ◽  
Model Based ◽  
Aerial Vehicle ◽  
The Stability

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures. Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications. The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.

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