scholarly journals Payload dropping control of an unmanned quadrotor helicopter based on backstepping controller

2019 ◽  
Vol 277 ◽  
pp. 01004
Author(s):  
Jing Qiao ◽  
Zhixiang Liu ◽  
Youmin Zhang
Keyword(s):  
Autonomous Vehicles ◽  
Backstepping Control ◽  
Control Algorithms ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter ◽  
Concordia University ◽  
Control Community ◽  
Flexible Designs ◽  
Backstepping Controller ◽  
The Stability

Quadrotors have generated considerable interest in both the control community due to their simple dynamics and widely applications because of their advantages over regular air vehicles. Unlike other control algorithms that tend to linearize nonlinear systems, backstepping control does not work to cancel the nonlinearities in the system. This leads to more flexible designs since some of the nonlinear terms can contribute to the stability of the system. The backstepping control is implemented in this paper for the robustness of the quadrotor helicopter in the payload dropping process. This control algorithm is implemented on the parameters of an unmanned quadrotor helicopter platform known as Qball-X4 available at the Networked Autonomous Vehicles Lab of Concordia University. Simulation results carried out using a nonlinear model, and wherein the performance achieved with this control strategy is shown.

Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor Drive

2015 ◽  
Vol 6 (4) ◽  
pp. 842 ◽  
Author(s):  
Anissa Hosseynia ◽  
Ramzi Trabelsi ◽  
Atif Iqbal ◽  
Med Faouzi Mimounia
Keyword(s):  
Permanent Magnet ◽  
Control Strategy ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Backstepping Control ◽  
Lyapunov Theory ◽  
Motor Drive ◽  
Control Law ◽  
Backstepping Controller ◽  
The Stability

This paper deals with the synthesis of a speed control strategy for a five-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller. The proposed control strategy considers the nonlinearities of the system in the control law. The stability of the backstepping control strategy is proved by the Lyapunov theory. Simulated results are provided to verify the feasibility of the backstepping control strategy.

Payload Drop Application Using an Unmanned Quadrotor Helicopter Based on Gain-Scheduled PID and Model Predictive Control

2014 ◽  
Vol 02 (01) ◽  
pp. 39-52 ◽  
Author(s):  
Iman Sadeghzadeh ◽  
Mahyar Abdolhosseini ◽  
Youmin Zhang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Vehicles ◽  
Performance Comparison ◽  
Control Techniques ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter ◽  
Model Free ◽  
And Performance ◽  
Gain Scheduled

Two useful control techniques are investigated and applied experimentally to an unmanned quadrotor helicopter for a practical and important scenario of using an Unmanned Aerial Vehicle (UAV) for dropping a payload in circumstances where search and rescue and delivery of supplies and goods is dangerous and difficult to reach environments such as forest or high building fires fighting, rescue in earthquake, flood and nuclear disaster situations. The two considered control techniques for such applications are the Gain-Scheduled Proportional-Integral-Derivative (GS-PID) control and the Model Predictive Control (MPC). Both the model-free (GS-PID) and model-based (MPC) algorithms show a very promising performance with application to taking-off, height holding, payload dropping, and landing periods in a payload dropping mission. Finally, both algorithms are successfully implemented on an unmanned quadrotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab (NAVL) of Concordia University for payload dropping tests to illustrate the effectiveness and performance comparison of the two control techniques.

scholarly journals Model Free Command Filtered Backstepping Control for Marine Power Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Hongcheng Zhou ◽  
Dezhi Xu ◽  
Bin Jiang
Keyword(s):  
Power Systems ◽  
Dynamic Model ◽  
Nonlinear Models ◽  
Chaotic Oscillation ◽  
Backstepping Control ◽  
Control Algorithms ◽  
Velocity Signal ◽  
Model Free ◽  
Backstepping Controller ◽  
Novel Model

In order to retrain chaotic oscillation of marine power systems which are excited by periodic electromagnetism perturbation, two novel model free command-filtered backstepping control methods are designed in this paper. Firstly, the dynamic model of marine power system based on the two parallel nonlinear models is established. Secondly, extended state observer (ESO) and adaptive neural network observer (NNO) are designed to estimate the velocity signal and the unknown dynamic model. Moreover, the uniform form of ESO and NNO is given. Next, the model free command-filtered backstepping controller is put forward based on the uniform observer form. Finally, the simulation results indicate that the two proposed control algorithms can quickly retrain chaotic oscillation and their effectiveness and potential are amply demonstrated.

scholarly journals Exploring the Distribution of Traffic Flow for Shared Human and Autonomous Vehicle Roads

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3425
Author(s):  
Huanping Li ◽  
Jian Wang ◽  
Guopeng Bai ◽  
Xiaowei Hu
Keyword(s):  
Traffic Flow ◽  
Autonomous Vehicles ◽  
Flow Model ◽  
Road Traffic ◽  
Autonomous Vehicle ◽  
Transformation Model ◽  
Hydrodynamic Theory ◽  
Traffic Flow Model ◽  
Traffic System ◽  
The Stability

In order to explore the changes that autonomous vehicles would bring to the current traffic system, we analyze the car-following behavior of different traffic scenarios based on an anti-collision theory and establish a traffic flow model with an arbitrary proportion (p) of autonomous vehicles. Using calculus and difference methods, a speed transformation model is established which could make the autonomous/human-driven vehicles maintain synchronized speed changes. Based on multi-hydrodynamic theory, a mixed traffic flow model capable of numerical calculation is established to predict the changes in traffic flow under different proportions of autonomous vehicles, then obtain the redistribution characteristics of traffic flow. Results show that the reaction time of autonomous vehicles has a decisive influence on traffic capacity; the q-k curve for mixed human/autonomous traffic remains in the region between the q-k curves for 100% human and 100% autonomous traffic; the participation of autonomous vehicles won’t bring essential changes to road traffic parameters; the speed-following transformation model minimizes the safety distance and provides a reference for the bottom program design of autonomous vehicles. In general, the research could not only optimize the stability of transportation system operation but also save road resources.

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

scholarly journals Nonlinear Backstepping Control of Permanent Magnet Synchronous Motor with Rotor Speed and Position Estimation

2018 ◽  
Vol 3 (3) ◽  
pp. 133-142
Author(s):  
Abderrahmen KIRAD ◽  
Said Grouni ◽  
Omar MECHALI
Keyword(s):  
Permanent Magnet ◽  
High Performance ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Backstepping Control ◽  
Position Estimation ◽  
Nonlinear Feedback ◽  
Precise Knowledge ◽  
The Stability ◽  
Nonlinear Backstepping Control

This paper presents a nonlinear backstepping control strategy used to ensure good dynamic behavior, high performance and the stability of the permanent magnet synchronous motor (PMSM). However, this control requires the precise knowledge of certain variables (speed, torque and position) that are difficult to access or sensors require additional mounting space, reduce reliability, increase the cost of the engine, and make maintenance difficult. Thus, an Extended Kalman Filter (EKF) approach is proposed for the estimation of speed and rotor position in the PMSM. The interesting simulation results obtained which are subjected to the load perturbation show very well the efficiency and the good performance of the nonlinear feedback control proposed and simulated in Matlab-Simulink.

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