scholarly journals A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Carlos Alejandro Merlo-Zapata ◽  
Carlos Aguilar-Ibanez ◽  
Octavio Gutiérrez-Frías ◽  
Mayra Antonio-Cruz ◽  
Celso Márquez-Sánchez ◽  
...  
Keyword(s):  
Function Method ◽  
Vehicle Model ◽  
Stabilizing Controller ◽  
Saturation Function ◽  
Control Scheme ◽  
Position Controller ◽  
Aerial Vehicle ◽  
Position Regulation ◽  
Nonlinear Disturbance ◽  
Lyapunov Second Method

In this study, a control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented. To this end, the backstepping procedure together with nested saturation function method is used. Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one. Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance. Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle. The corresponding stability analysis is conducted via the Lyapunov second method. In addition, to estimate the disturbance due to wind, an extended state observer is used. The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.

scholarly journals A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 54
Author(s):  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Mode Control ◽  
Ducted Fan ◽  
Control Scheme ◽  
Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

Design and Development of a Control Scheme for the UC2AV: Unmanned Circulation Control Aerial Vehicle

2017 ◽  
Author(s):  
Cameron Rosen ◽  
Konstantinos Kanistras ◽  
Pranith Saka ◽  
Kimon Valavanis ◽  
Matthew Rutherford
Keyword(s):  
Circulation Control ◽  
Design And Development ◽  
Control Scheme ◽  
Aerial Vehicle

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

scholarly journals Design and control of the first foldable single-actuator rotary wing micro aerial vehicle

2021 ◽  
Vol 16 (6) ◽  
pp. 066019
Author(s):  
Shane Kyi Hla Win ◽  
Luke Soe Thura Win ◽  
Danial Sufiyan ◽  
Shaohui Foong
Keyword(s):  
Degrees Of Freedom ◽  
Average Power ◽  
Flight Time ◽  
Special Technique ◽  
Camera System ◽  
Micro Aerial Vehicle ◽  
Power Draw ◽  
Position Controller ◽  
Aerial Vehicle ◽  
Rigid Wing

Abstract The monocopter is a type of micro aerial vehicle largely inspired from the flight of botanical samaras (Acer palmatum). A large section of its fuselage forms the single wing where all its useful aerodynamic forces are generated, making it achieve a highly efficient mode of flight. However, compared to a multi-rotor of similar weight, monocopters can be large and cumbersome for transport, mainly due to their large and rigid wing structure. In this work, a monocopter with a foldable, semi-rigid wing is proposed and its resulting flight performance is studied. The wing is non-rigid when not in flight and relies on centrifugal forces to become straightened during flight. The wing construction uses a special technique for its lightweight and semi-rigid design, and together with a purpose-designed autopilot board, the entire craft can be folded into a compact pocketable form factor, decreasing its footprint by 69%. Furthermore, the proposed craft accomplishes a controllable flight in 5 degrees of freedom by using only one thrust unit. It achieves altitude control by regulating the force generated from the thrust unit throughout multiple rotations. Lateral control is achieved by pulsing the thrust unit at specific instances during each cycle of rotation. A closed-loop feedback control is achieved using a motion-captured camera system, where a hybrid proportional stabilizer controller and proportional-integral position controller are applied. Waypoint tracking, trajectory tracking and flight time tests were performed and analyzed. Overall, the vehicle weighs 69 g, achieves a maximum lateral speed of about 2.37 m s−1, an average power draw of 9.78 W and a flight time of 16 min with its semi-rigid wing.

Fast Terminal Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

2013 ◽  
Vol 427-429 ◽  
pp. 1179-1182
Author(s):  
Sheng Bin Hu ◽  
Jin Yuan Xu ◽  
Xuan Wu ◽  
Chi Zhang ◽  
Yi Hao He
Keyword(s):  
Sliding Mode ◽  
Flapping Wing ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

A fast terminal fuzzy sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a fast terminal sliding mode controller is designed. To diminish the chattering in the control input, a fuzzy controller is designed to adjust the generalized gain of fast terminal fuzzy sliding mode controller according to fast terminal sliding mode surface. The stability of the control algorithm is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

scholarly journals An adaptive hierarchical control for aerial manipulators

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1527-1550 ◽  
Author(s):  
Francesco Pierri ◽  
Giuseppe Muscio ◽  
Fabrizio Caccavale
Keyword(s):  
Control Algorithm ◽  
Hierarchical Control ◽  
Bottom Layer ◽  
Trajectory Tracking Control ◽  
Aerial Manipulator ◽  
Control Scheme ◽  
Modelling Uncertainties ◽  
Aerial Vehicle ◽  
The Stability

SUMMARYThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach.

scholarly journals Neural PD Controller for an Unmanned Aerial Vehicle Trained with Extended Kalman Filter

Algorithms ◽  
2020 ◽  
Vol 13 (2) ◽  
pp. 40 ◽  
Author(s):  
Javier Gomez-Avila ◽  
Carlos Villaseñor ◽  
Jesus Hernandez-Barragan ◽  
Nancy Arana-Daniel ◽  
Alma Y. Alanis ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Mobile Robotics ◽  
Pid Controllers ◽  
Pd Controller ◽  
The Neural Network ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Aerial Vehicle ◽  
Linear Controllers

Flying robots have gained great interest because of their numerous applications. For this reason, the control of Unmanned Aerial Vehicles (UAVs) is one of the most important challenges in mobile robotics. These kinds of robots are commonly controlled with Proportional-Integral-Derivative (PID) controllers; however, traditional linear controllers have limitations when controlling highly nonlinear and uncertain systems such as UAVs. In this paper, a control scheme for the pose of a quadrotor is presented. The scheme presented has the behavior of a PD controller and it is based on a Multilayer Perceptron trained with an Extended Kalman Filter. The Neural Network is trained online in order to ensure adaptation to changes in the presence of dynamics and uncertainties. The control scheme is tested in real time experiments in order to show its effectiveness.

scholarly journals Three-Dimensional Path Planning of Constant Thrust Unmanned Aerial Vehicle Based on Artificial Fluid Method

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Yongqiang Qi ◽  
Shuai Li ◽  
Yi Ke
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Interpolation Method ◽  
Three Dimensional ◽  
Planning Problem ◽  
Perturbation Matrix ◽  
Fluid Field ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Tangential Vector

In this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned path for the unmanned aerial vehicle, and the tangential vector and the disturbance matrix of the artificial fluid method are improved. In particular, this paper addresses a novel algorithm of constant thrust fitting which is proposed through the impulse compensation, and then the constant thrust switching control scheme based on the isochronous interpolation method is given. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually. Simulation results demonstrate the effectiveness of this method.

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