Design and development of a backstepping controller autopilot for fixed-wing UAVs

2021 ◽  
pp. 1-27
Author(s):  
D. Sartori ◽  
F. Quagliotti ◽  
M.J. Rutherford ◽  
K.P. Valavanis
Keyword(s):  
Real Time ◽  
Control Law ◽  
Parametric Uncertainties ◽  
Hardware In The Loop ◽  
Aircraft Control ◽  
Backstepping Approach ◽  
Small Uav ◽  
Backstepping Controller ◽  
Definition Of ◽  
Performance Results

Abstract Backstepping represents a promising control law for fixed-wing Unmanned Aerial Vehicles (UAVs). Its non-linearity and its adaptation capabilities guarantee adequate control performance over the whole flight envelope, even when the aircraft model is affected by parametric uncertainties. In the literature, several works apply backstepping controllers to various aspects of fixed-wing UAV flight. Unfortunately, many of them have not been implemented in a real-time controller, and only few attempt simultaneous longitudinal and lateral–directional aircraft control. In this paper, an existing backstepping approach able to control longitudinal and lateral–directional motions is adapted for the definition of a control strategy suitable for small UAV autopilots. Rapidly changing inner-loop variables are controlled with non-adaptive backstepping, while slower outer loop navigation variables are Proportional–Integral–Derivative (PID) controlled. The controller is evaluated through numerical simulations for two very diverse fixed-wing aircraft performing complex manoeuvres. The controller behaviour with model parametric uncertainties or in presence of noise is also tested. The performance results of a real-time implementation on a microcontroller are evaluated through hardware-in-the-loop simulation.

scholarly journals A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

2015 ◽  
Vol 66 (5) ◽  
pp. 270-276 ◽  
Author(s):  
Fouad Haouari ◽  
Bali Nourdine ◽  
Mohamed Segir Boucherit ◽  
Mohamed Tadjine
Keyword(s):  
Robotic Manipulators ◽  
Control Law ◽  
Control Procedure ◽  
Parametric Uncertainties ◽  
The Novel ◽  
External Disturbances ◽  
Diagram Method ◽  
Coefficient Diagram Method ◽  
Backstepping Controller ◽  
Puma Robot

AbstractA new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

COMPARISON OF AN X4-AUV PERFORMANCE USING A BACKSTEPPING AND INTEGRAL BACKSTEPPING APPROACH

2016 ◽  
Vol 78 (6-11) ◽  
Author(s):  
Nur Fadzillah Harun ◽  
Zainah Md. Zain
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Underwater Vehicle ◽  
Control Technique ◽  
Underactuated System ◽  
Control Law ◽  
Backstepping Approach ◽  
Highly Nonlinear ◽  
Backstepping Controller ◽  
Propose Control System

X4-AUV is a type of an autonomous underwater vehicle (AUV) which has 4 inputs with six degrees of freedoms (6-DOFs) in motion and is classified under an underactuated system. Controlling an underactuated system is difficult tasks because of the highly nonlinear dynamic, uncertainties in hydrodynamics behaviour and mostly those systems fails to satisfy Brockett’s Theorem. It usually required nonlinear control technique and this paper proposed an integral backstepping controller for stabilizing an underactuated X4-AUV. A control law is designed for the system in new state space using integral backstepping. The performance of the proposed control method is examined through simulation and results demonstrate all motion is stabilized and convergence into desired point. We also compared the results with backstepping approach to see the effectiveness of the propose control system.

Nonlinear stabilizing control of a rotary double inverted pendulum: a modified backstepping approach

2016 ◽  
Vol 39 (11) ◽  
pp. 1721-1734 ◽  
Author(s):  
Abdul Jabbar ◽  
Fahad Mumtaz Malik ◽  
Shahzad Amin Sheikh
Keyword(s):  
Inverted Pendulum ◽  
Coupled System ◽  
System Model ◽  
Control Law ◽  
Second Stage ◽  
Backstepping Approach ◽  
Stabilizing Control ◽  
Control Scheme ◽  
Backstepping Controller ◽  
Two Stages

Modified backstepping control is proposed for an under-actuated rotary double inverted pendulum. The system has actuated rotary base joint with which two unactuated links are attached. The proposed control design is a three step process for de-coupled system model. In the first stage, a backstepping controller is designed for each of the active and passive joints. In the second stage, compensation is introduced in the respective control efforts to cater for uncertain terms based on Lyapunov function for each joint. Finally, the controllers obtained in the two stages are combined to form a total control law. The performance of the proposed control scheme is evaluated by convergence analysis and simulations.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

scholarly journals Power Hardware-in-the-Loop-Based Performance Analysis of Different Converter Controllers for Fast Active Power Regulation in Low-Inertia Power Systems

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3274
Author(s):  
Jose Rueda Torres ◽  
Zameer Ahmad ◽  
Nidarshan Veera Kumar ◽  
Elyas Rakhshani ◽  
Ebrahim Adabi ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Power Systems ◽  
Real Time ◽  
Control Strategies ◽  
Active Power ◽  
Power Electronic ◽  
Hardware In The Loop ◽  
Digital Controllers ◽  
Power Regulation ◽  
The Impact

Future electrical power systems will be dominated by power electronic converters, which are deployed for the integration of renewable power plants, responsive demand, and different types of storage systems. The stability of such systems will strongly depend on the control strategies attached to the converters. In this context, laboratory-scale setups are becoming the key tools for prototyping and evaluating the performance and robustness of different converter technologies and control strategies. The performance evaluation of control strategies for dynamic frequency support using fast active power regulation (FAPR) requires the urgent development of a suitable power hardware-in-the-loop (PHIL) setup. In this paper, the most prominent emerging types of FAPR are selected and studied: droop-based FAPR, droop derivative-based FAPR, and virtual synchronous power (VSP)-based FAPR. A novel setup for PHIL-based performance evaluation of these strategies is proposed. The setup combines the advanced modeling and simulation functions of a real-time digital simulation platform (RTDS), an external programmable unit to implement the studied FAPR control strategies as digital controllers, and actual hardware. The hardware setup consists of a grid emulator to recreate the dynamic response as seen from the interface bus of the grid side converter of a power electronic-interfaced device (e.g., type-IV wind turbines), and a mockup voltage source converter (VSC, i.e., a device under test (DUT)). The DUT is virtually interfaced to one high-voltage bus of the electromagnetic transient (EMT) representation of a variant of the IEEE 9 bus test system, which has been modified to consider an operating condition with 52% of the total supply provided by wind power generation. The selected and programmed FAPR strategies are applied to the DUT, with the ultimate goal of ascertaining its feasibility and effectiveness with respect to the pure software-based EMT representation performed in real time. Particularly, the time-varying response of the active power injection by each FAPR control strategy and the impact on the instantaneous frequency excursions occurring in the frequency containment periods are analyzed. The performed tests show the degree of improvements on both the rate-of-change-of-frequency (RoCoF) and the maximum frequency excursion (e.g., nadir).

scholarly journals Power Hardware-in-the-Loop: Response of Power Components in Real-Time Grid Simulation Environment

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 593
Author(s):  
Moiz Muhammad ◽  
Holger Behrends ◽  
Stefan Geißendörfer ◽  
Karsten von Maydell ◽  
Carsten Agert
Keyword(s):  
Real Time ◽  
Power Distribution ◽  
Control Strategies ◽  
Power Grid ◽  
Energy System ◽  
Hardware In The Loop ◽  
Distribution Grid ◽  
Compensation Strategy ◽  
Software Environment ◽  
The Real

With increasing changes in the contemporary energy system, it becomes essential to test the autonomous control strategies for distributed energy resources in a controlled environment to investigate power grid stability. Power hardware-in-the-loop (PHIL) concept is an efficient approach for such evaluations in which a virtually simulated power grid is interfaced to a real hardware device. This strongly coupled software-hardware system introduces obstacles that need attention for smooth operation of the laboratory setup to validate robust control algorithms for decentralized grids. This paper presents a novel methodology and its implementation to develop a test-bench for a real-time PHIL simulation of a typical power distribution grid to study the dynamic behavior of the real power components in connection with the simulated grid. The application of hybrid simulation in a single software environment is realized to model the power grid which obviates the need to simulate the complete grid with a lower discretized sample-time. As an outcome, an environment is established interconnecting the virtual model to the real-world devices. The inaccuracies linked to the power components are examined at length and consequently a suitable compensation strategy is devised to improve the performance of the hardware under test (HUT). Finally, the compensation strategy is also validated through a simulation scenario.

scholarly journals A Summary of F-Transform Techniques in Data Analysis

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1771
Author(s):  
Ferdinando Di Martino ◽  
Irina Perfilieva ◽  
Salvatore Sessa
Keyword(s):  
Data Analysis ◽  
Analysis Data ◽  
High Dimensional ◽  
Sufficient Data ◽  
Fuzzy Transform ◽  
Transform Method ◽  
Data Density ◽  
Fuzzy Partitions ◽  
Definition Of ◽  
Performance Results

Fuzzy transform is a technique applied to approximate a function of one or more variables applied by researchers in various image and data analysis. In this work we present a summary of a fuzzy transform method proposed in recent years in different data mining disciplines, such as the detection of relationships between features and the extraction of association rules, time series analysis, data classification. After having given the definition of the concept of Fuzzy Transform in one or more dimensions in which the constraint of sufficient data density with respect to fuzzy partitions is also explored, the data analysis approaches recently proposed in the literature based on the use of the Fuzzy Transform are analyzed. In particular, the strategies adopted in these approaches for managing the constraint of sufficient data density and the performance results obtained, compared with those measured by adopting other methods in the literature, are explored. The last section is dedicated to final considerations and future scenarios for using the Fuzzy Transform for the analysis of massive and high-dimensional data.

scholarly journals Electronic Orientation Aid for Visually Impaired using Graphics Processing Unit (GPU)

2020 ◽  
Vol 32 ◽  
pp. 03054
Author(s):  
Akshata Parab ◽  
Rashmi Nagare ◽  
Omkar Kolambekar ◽  
Parag Patil
Keyword(s):  
Real Time ◽  
Visually Impaired ◽  
Graphics Processing Unit ◽  
Human Perception ◽  
Processing Unit ◽  
Surrounding Environment ◽  
Visually Impaired People ◽  
Impaired People ◽  
Definition Of ◽  
Graphics Processing

Vision is one of the very essential human senses and it plays a major role in human perception about surrounding environment. But for people with visual impairment their definition of vision is different. Visually impaired people are often unaware of dangers in front of them, even in familiar environment. This study proposes a real time guiding system for visually impaired people for solving their navigation problem and to travel without any difficulty. This system will help the visually impaired people by detecting the objects and giving necessary information about that object. This information may include what the object is, its location, its precision, distance from the visually impaired etc. All these information will be conveyed to the person through audio commands so that they can navigate freely anywhere anytime with no or minimal assistance. Object detection is done using You Only Look Once (YOLO) algorithm. As the process of capturing the video/images and sending it to the main module has to be carried at greater speed, Graphics Processing Unit (GPU) is used. This will help in enhancing the overall speed of the system and will help the visually Impaired to get the maximum necessary instructions as quickly as possible. The process starts from capturing the real time video, sending it for analysis and processing and get the calculated results. The results obtained from analysis are conveyed to user by means of hearing aid. As a result by this system the blind or the visually impaired people can visualize the surrounding environment and travel freely from source to destination on their own.

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