Adaptive robust backstepping attitude control for a multi-rotor unmanned aerial vehicle with time-varying output constraints

2018 ◽  
Vol 78 ◽  
pp. 593-603 ◽  
Author(s):  
Chunyang Fu ◽  
Wei Hong ◽  
Huiqiu Lu ◽  
Lei Zhang ◽  
Xiaojun Guo ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Time Varying ◽  
Output Constraints ◽  
Aerial Vehicle

Robust linear parameter varying attitude control of a quadrotor unmanned aerial vehicle with state constraints and input saturation subject to wind disturbance

2019 ◽  
Vol 42 (6) ◽  
pp. 1083-1096 ◽  
Author(s):  
Mohammad Reza Soltanpour ◽  
Farshad Hasanvand ◽  
Reza Hooshmand
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Input Saturation ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Parameter Dependent

In this paper, a gain scheduled [Formula: see text] state-feedback controller has been designed to control the attitude of a linear parameter varying (LPV) model of a quadrotor unmanned aerial vehicle (UAV). The scheduling parameters vector, which consists of some states and the control inputs, must vary in a specified polyhedron so that the affine LPV model would be analyzable; therefore, some pre-assumed constraints on states and input saturation have been taken into account in design process. The stabilization and disturbance attenuation conditions are obtained via elementary manipulations on the notion of [Formula: see text] control design. The resulting parameter dependent linear matrix inequalities are solved through a Robust LMI Parser (Rolmip) – which works jointly with YALMIP (A toolbox for modeling and optimization in MATLAB)– by transforming polynomial parameter dependent matrices into multi-simplex domain, to best deal with nonconvex problems. In the end, simulation results have been presented and compared with existing literature to examine the capability of such method in the presence and absence of wind disturbances.

Roll aerodynamic characteristics study of an unmanned aerial vehicle based on circulation control technology

2017 ◽  
Vol 233 (3) ◽  
pp. 871-882
Author(s):  
Kun Chen ◽  
Zhiwei Shi ◽  
Jiachen Zhu ◽  
Haiyang Wang ◽  
Junquan Fu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Attitude Control ◽  
Aerodynamic Force ◽  
Flight Test ◽  
Scale Model ◽  
Maximum Efficiency ◽  
Control Technology ◽  
Circulation Control ◽  
Aerial Vehicle

To explore the control efficiency of circulation flow control technology, a circulation control actuator with an independent gas source has been designed and applied in roll attitude control of a small unmanned aerial vehicle. The circulation control devices are arranged at the two ends of the wing on an unmanned aerial vehicle scale model, the changes in aerodynamic force and aerodynamic moment caused by turning on the actuator are measured in a wind tunnel, and the flow field characteristics are analysed using particle image velocimetry technology. The flight control effect of the roll attitude is verified via a flight test. Experimental and flight test results show that the control of roll attitude can be achieved by turning on the circulation control actuator on one side, and the maximum efficiency that the circulation control generates is equivalent to 8° aileron deflection with production of a favorable yaw moment to achieve a coordinated turn. The circulation control actuator can increase lift and reduce drag when opened on both sides simultaneously. The maximum lift-to-drag ratio of the UAV increased from 5 to 9, and this approach can also suppress flow separation and delay stall at high angles of attack. The aileron or trailing edge flaps can be replaced with circulation control actuators, and the circulation control technology can also be applied to aerodynamic performance improvement and flight control in other types of aircraft.

scholarly journals Trajectory planning of quadrotor using sliding mode control with extended state observer

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1300-1308
Author(s):  
Jun Xiao
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Attitude Control ◽  
Sliding Mode ◽  
State Observer ◽  
Control Model ◽  
Extended State Observer ◽  
Extended State ◽  
Inner Model ◽  
Aerial Vehicle

This paper presents the trajectory planning of an under-actuated quadcopter unmanned aerial vehicle. To control the complete structure of the rotorcraft, the main model is divided into two sub-models, namely inner model and external model. The inner model is for the attitude control model controlled by the sliding mode controller and the outer model is altitude control model governed by the extended state observer. The quadrotor unmanned aerial vehicle is a type of multivariable, multi-degree-of-freedom and nonlinear in nature. Planning the trajectory of the unmanned aerial vehicle and stabilizing its flight are complex tasks because of its ability to maneuver quickly. Due to these stated issues, the tuning of this type of dynamic system is a difficult task. This paper deals with these issues by designing the aforementioned dual controller scheme. In addition, the effectiveness of the proposed controller is apparent in simulations performed in MATLAB, Simulink 2016. The designed controller shows better results and robustness than traditional controllers do.

scholarly journals Adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle

2018 ◽  
Vol 234 (10) ◽  
pp. 1587-1596
Author(s):  
G Bressan ◽  
A Russo ◽  
D Invernizzi ◽  
M Giurato ◽  
S Panza ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Attitude Control System ◽  
Loop Dynamics ◽  
The Standard Model ◽  
Aerial Vehicle ◽  
Adaptation Law ◽  
Model Reference Adaptive

In this paper, the adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle is considered. The proposed approach allows to combine a baseline controller with an adaptive one and to disable or enable the adaptive controller when needed, in order to take the advantages of both the controllers. To improve transient performance with respect to the standard model reference adaptive controller, an observed-based approach is exploited. The adaptation law is based on the error between the output of an observer of the nominal closed-loop dynamics and the actual output of the system with uncertainties. Experimental results obtained by testing the proposed approach on a quadrotor unmanned aerial vehicle are presented to compare the performance, in terms of disturbance rejection, with respect to the baseline controller and to a [Formula: see text] adaptive augmentation scheme.

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