Evaluation of attitude dynamic module on LAPAN-ITB micro-satellite simulator

This article mainly considers the problem of trajectory tracking control problem of quad-rotor system with velocity constrain under the consideration of safety. A model-based nonlinear controller is proposed which can guarantee not only the asymptotical stability for control system but also the velocity under a safe range. Firstly, based on backstepping design, a position tracking controller with velocity constraint is proposed to ensure that the desired position can be tracked with velocity constrains. At the second step, considering attitude subsystem, an attitude controller is proposed to improve the attitude dynamic response performance. Finally, the validity and superiority of the design has been verified in simulation results.

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NASA ADA experiment --- attitude dynamic simulator

10.1145/339665.339674 ◽

1986 ◽

Cited By ~ 2

Author(s):

Robert W. Nelson

Keyword(s):

Dynamic Simulator ◽

Attitude Dynamic

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Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control

Mathematical Problems in Engineering ◽

10.1155/2014/492680 ◽

2014 ◽

Vol 2014 ◽

pp. 1-8 ◽

Cited By ~ 4

Author(s):

Wenya Zhou ◽

Kuilong Yin ◽

Rui Wang ◽

Yue-E Wang

Keyword(s):

Adaptive Control ◽

Control System ◽

Attitude Control ◽

Feedback Linearization ◽

Control Law ◽

Attitude Control System ◽

Model Uncertainties ◽

Performance Indexes ◽

Attitude Dynamic ◽

Adaptive Control Law

Attitude dynamic model of unmanned aerial vehicles (UAVs) is multi-input multioutput (MIMO), strong coupling, and nonlinear. Model uncertainties and external gust disturbances should be considered during designing the attitude control system for UAVs. In this paper, feedback linearization and model reference adaptive control (MRAC) are integrated to design the attitude control system for a fixed wing UAV. First of all, the complicated attitude dynamic model is decoupled into three single-input single-output (SISO) channels by input-output feedback linearization. Secondly, the reference models are determined, respectively, according to the performance indexes of each channel. Subsequently, the adaptive control law is obtained using MRAC theory. In order to demonstrate the performance of attitude control system, the adaptive control law and the proportional-integral-derivative (PID) control law are, respectively, used in the coupling nonlinear simulation model. Simulation results indicate that the system performance indexes including maximum overshoot, settling time (2% error range), and rise time obtained by MRAC are better than those by PID. Moreover, MRAC system has stronger robustness with respect to the model uncertainties and gust disturbance.

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Robust Dual-Channel Disturbance Rejection Attitude Control for a Quadrotor UAV: Theory and Experiment

10.21203/rs.3.rs-571804/v1 ◽

2021 ◽

Author(s):

Jian Pan ◽

Jiaxin Xiong

Keyword(s):

Dynamic Model ◽

Attitude Control ◽

Disturbance Rejection ◽

Lyapunov Theory ◽

Outer Loop ◽

Variable Gain ◽

Dual Channel ◽

Gain Switching ◽

Modeling Uncertainties ◽

Attitude Dynamic

Abstract In this paper, a robust dual-channel disturbance rejection control based on an inner-outer loop control framework is proposed for the attitude control of the quadrotor under modeling uncertainties and unknown disturbances. In the outer loop, a tracking differentiator is introduced to obtain smooth tracking signals and their derivatives. In addition, an outer loop controller is developed with the tracking signals set as the desired signals. In the inner loop, a robust dual-channel disturbance rejection controller based on a sliding mode observer is constructed, which contains an inner disturbance rejection channel (IDRC) and an outer disturbance rejection channel (ODRC). In the IDRC, a disturbance rejection compensator is designed to obtain the disturbance compensation values and to compensate a part of the lumped disturbances in the attitude dynamic model. In the ODRC, an inner loop controller with variable-gain switching terms and constant-gain switching terms is designed, whose switching terms are used to compensate the remaining part of the lumped disturbances in the attitude dynamic model. By using the proposed control scheme, the robustness is guaranteed, and the chattering phenomenon caused by the variable-gain switching terms is greatly reduced. The stability of the proposed scheme is analyzed by using the Lyapunov theory. Finally, the effectiveness is tested by the platform experiments.

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Karst exploration: Unconstrained attitude dynamic control for an AUV

Ocean Engineering ◽

10.1016/j.oceaneng.2020.108321 ◽

2021 ◽

Vol 219 ◽

pp. 108321

Author(s):

Lionel Lapierre ◽

Rene Zapata ◽

Pascal Lepinay ◽

Benoit Ropars

Keyword(s):

Dynamic Control ◽

Attitude Dynamic

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Sliding Variable Structure Control for Attitude of Moving-Mass Hypersonic Vehicles

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.325-326.1225 ◽

2013 ◽

Vol 325-326 ◽

pp. 1225-1228

Author(s):

Yu Kun Wang ◽

Zhen Zhang ◽

Jian Qin Mao

Keyword(s):

Dynamic Model ◽

Variable Structure ◽

Reasonable Assumption ◽

Moving Mass ◽

Structure Control ◽

Time Scale Separation ◽

Separation Theory ◽

Coupling System ◽

Time Simulation ◽

Attitude Dynamic

The moving-mass hypersonic attitude dynamic model is a strong nonlinear, multivariable, and strong coupling system. Based on the reasonable assumption, a simplified dynamic model is given. According to the time-scale separation theory, a sliding variable structure controller is designed and implemented for the tracking control of angular velocity and angle at the same time. Simulation results demonstrate the effectiveness of controller.

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