Adaptive fault-torrent attitude tracking control for hypersonic Unmanned aerial vehicle subject to input constraints

2015 ◽  
Author(s):  
Yuehui Ji ◽  
Xianggui Guo ◽  
Weichen Ni
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Tracking Control ◽  
Input Constraints ◽  
Attitude Tracking ◽  
Aerial Vehicle ◽  
Attitude Tracking Control

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

2017 ◽  
Vol 67 (3) ◽  
pp. 245 ◽  
Author(s):  
Sudhir Nadda ◽  
A. Swarup
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Technique ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Aerial Vehicle

The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

Lyapunov-Based Attitude Tracking Control of a Quadrotor UAV

2012 ◽  
Author(s):  
Mohammad A. Ayoubi ◽  
Chokri Sendi
Keyword(s):  
Tracking Control ◽  
Direct Method ◽  
Equations Of Motion ◽  
Attitude Motion ◽  
Slow Time ◽  
Modified Rodrigues Parameters ◽  
Attitude Tracking ◽  
Aerial Vehicle ◽  
Attitude Tracking Control ◽  
Globally Stable

In this paper, we use the Newton-Euler formulation to derive the equations of motion of a quadrotor unmanned aerial vehicle. We use the Modified Rodrigues Parameters to describe the attitude motion of a quadrotor for large attitude angles. Then, a globally stable feedback law for the problem of attitude tracking control of the vehicle was derived based on the Lyapunov’s direct method. Simulation results confirm that the proposed controller can track a reference attitude signal in the presence of parameter uncertainty, time delay, and slow time-varying external moments.

Velocity-free attitude tracking for rigid spacecraft via bounded control

2021 ◽  
pp. 095441002110423
Author(s):  
Jian Zhang ◽  
Wen-Jie Wu ◽  
Long Liu ◽  
Dai Liu
Keyword(s):  
Angular Velocity ◽  
Tracking Control ◽  
Input Saturation ◽  
Control Law ◽  
Input Constraints ◽  
Bounded Control ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Rigid Spacecraft ◽  
Attitude Tracking Control

This article investigates the attitude tracking control problem for a rigid spacecraft without angular velocity feedback, in which external disturbances, parametric uncertainties, and input saturation are considered. Initially, an angular velocity observer is developed incorporated with adaptive technique, which could tackle the unmeasurable angular velocity and system uncertainties simultaneously. By introducing adaptive updating law into the proposed observer, the synchronized uncertainties are handled such that robustness of the observer is enhanced, even in the presence of external disturbances. Further, for solving the input constraints problem, command filter and backstepping method are utilized; thus, a bounded attitude tracking control law is derived. Finally, the attitude tracking performance is evaluated by numerical examples.

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