Robust Control of Quadrotors Based on an Uncertainty and Disturbance Estimator

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Ricardo Sanz ◽  
Pedro Garcia ◽  
Qing-Chang Zhong ◽  
Pedro Albertos
Keyword(s):  
Robust Control ◽  
Real Time ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Reference Model ◽  
Flight Tests ◽  
Real Time Applications ◽  
Uncertainty And Disturbance Estimator ◽  
Noise Amplification ◽  
Disturbance Estimator

In this paper, a robust control strategy is proposed to control the attitude and the altitude of quadrotors, based on an uncertainty and disturbance estimator (UDE). It is shown that the proposed controller can be tuned very easily, achieving the desired performance only by selecting an appropriate reference model and tuning a single parameter to tradeoff disturbance rejection with noise amplification in the control signal. The proposed control strategy is extensively validated in real-time applications with an experimental Quanser platform and also with a quadrotor prototype in real flight tests.

Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator

2004 ◽  
Vol 126 (4) ◽  
pp. 905-910 ◽  
Author(s):  
Qing-Chang Zhong ◽  
David Rees
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Robust Stability ◽  
Control Strategy ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertainty And Disturbance Estimator ◽  
Derivatives Of ◽  
Siso Systems ◽  
Disturbance Estimator

This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Jiguo Dai ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Nonlinear Systems ◽  
Reference Model ◽  
Experimental Studies ◽  
Feedback Form ◽  
Backstepping Approach ◽  
Mismatched Uncertainties ◽  
Uncertainty And Disturbance Estimator ◽  
Uniformly Ultimate Boundedness ◽  
System Errors ◽  
Disturbance Estimator

This paper proposes an uncertainty and disturbance estimator (UDE)-based controller for nonlinear systems with mismatched uncertainties and disturbances, integrating the UDE-based control and the conventional backstepping scheme. The adoption of the backstepping scheme helps to relax the structural constraint of the UDE-based control. Moreover, the reference model design in the UDE-based control offers a solution to address the “complexity explosion” problem of the backstepping approach. Furthermore, the strict-feedback form condition in the conventional backstepping approach is also relaxed by using the UDE-based control to estimate and compensate “disturbance-like” terms including nonstrict-feedback terms and intermediate system errors. The uniformly ultimate boundedness of the closed-loop system is analyzed. Both numerical and experimental studies are provided.

scholarly journals Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-20 ◽  
Author(s):  
Jesús Enrique Sierra ◽  
Matilde Santos
Keyword(s):  
Intelligent Control ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
System Performance ◽  
Pid Controllers ◽  
External Disturbances ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Disturbance Estimator

In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered. An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance. The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one. During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced. Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor.

Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
R. K. Stobart ◽  
Alon Kuperman ◽  
Qing-Chang Zhong
Keyword(s):  
Control Strategy ◽  
Linear Time ◽  
Single Input Single Output ◽  
Linear Time Invariant ◽  
Single Output ◽  
State Delays ◽  
Uncertainty And Disturbance Estimator ◽  
The Stability ◽  
Siso Systems ◽  
Disturbance Estimator

In this paper, a robust control strategy based on the uncertainty and disturbance estimator (UDE) is proposed for uncertain Linear Time Invariant-Single Input Single Output (LTI-SISO) systems with state delays. The knowledge of the bounds of uncertainties and disturbances is not needed during the design process although it is required for the stability analysis. Both the cases with known and unknown delays are considered. In the case of unknown delays, the terms involving the delays are treated as additional disturbances to the system. The robust stability of the closed-loop system is analyzed in detail, and a stability condition is proposed. Simulations are given to demonstrate the excellent tracking and disturbance rejection capabilities of the UDE-based control strategy.

Aeroengine Multivariable Nonlinear Tracking Control Based on Uncertainty and Disturbance Estimator

2014 ◽  
Vol 136 (12) ◽  
Author(s):  
Lingfei Xiao
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Reference Model ◽  
Robust Tracking Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
Nonlinear Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Disturbance Estimator

The multivariable robust tracking control problem for aeroengine is considered in this paper. On the basis of the aeroengine nonlinear affine uncertain dynamic model, and according to uncertainty and disturbance estimator (UDE) control approach, a novel aeroengine multivariable robust nonlinear tracking control method is presented in order to provide favorable tracking and disturbance rejection performance. After getting a generalization form of UDE-based aeroengine multivariable controller, a simplification form of control law is obtained when a specified form of low-pass filter is applied. Reference model of the aeroengine system should have satisfying dynamic, thus an optional reference model is provided. Simulation on a twin-shaft aeroengine with two inputs, verifies the effectiveness of the proposed method.

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