scholarly journals Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Li Ding ◽  
Qing He ◽  
Chengjun Wang ◽  
Rongzhi Qi
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Linear Extended State Observer ◽  
The Stability ◽  
Theory And Experiment

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

Attitude Control of Flapping Wing Micro Aerial Vehicle Based on Double Fuzzy Sliding Mode Control

2012 ◽  
Vol 468-471 ◽  
pp. 704-707
Author(s):  
Sheng Bin Hu ◽  
Wen Hua Lu ◽  
Zhi Yi Chen ◽  
Lei Lei ◽  
Yi Xuan Zhang
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Micro Aerial Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Fuzzy Sliding Mode

An adaptive Double Fuzzy Sliding Mode Control scheme for attitude control of Flapping Wing Micro Aerial Vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, another fuzzy controller is designed to adaptively tune the switch part of sliding mode control. The system stability is proved by Lyapunov principle. Simulation results show that the proposed control scheme is effective.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

scholarly journals Robust attitude tracking control scheme for a multi-body spacecraft using a radial basis function network and terminal sliding mode

2014 ◽  
Vol 24 (5) ◽  
Author(s):  
CHANGQING YUAN ◽  
YANHUA ZHONG ◽  
JINGRUI ZHANG ◽  
HONGBUO LI ◽  
GUOJUN YANG ◽  
...  
Keyword(s):  
Basis Function ◽  
Sliding Mode ◽  
Radial Basis Function Network ◽  
Robust Controller ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Multi Body ◽  
Function Network

We present a novel robust control scheme that deals with multi-body spacecraft attitude tracking problems. The control scheme consists of a radial basis function network (RBFN) and a robust controller. By using the finite time convergence property of the terminal sliding mode (TSM), we derive a new online learning algorithm for updating all the parameters of the RBFN that ensures the RBFN has fast approximation for the parameter uncertainties and external disturbances. We design a robust controller to compensate RBFN approximation errors and realise the anticipative stability and performance properties. We can also achieve closed-loop system stability using Lyapunov stability theory.No detailed knowledge of the non-linear dynamics of the spacecraft is required at any point in the entire design process, and the proposed robust scheme is simple and effective and can be applied to more complex systems. Simulation results demonstrate the good tracking characteristics of the proposed control scheme in the presence of inertial uncertainties and external disturbances.

Position and attitude tracking of uncertain quadrotor unmanned aerial vehicles based on non-singular terminal super-twisting algorithm

2019 ◽  
Vol 234 (3) ◽  
pp. 396-408
Author(s):  
Walid Alqaisi ◽  
Yassine Kali ◽  
Jawhar Ghommam ◽  
Maarouf Saad ◽  
Vahé Nerguizian
Keyword(s):  
Sliding Mode ◽  
Design Procedure ◽  
Lyapunov Theory ◽  
Effective Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
The Stability ◽  
Terminal Sliding Surface ◽  
Twisting Algorithm ◽  
Twisting Control

This paper proposes an improved non-singular terminal super-twisting control for the problem of position and attitude tracking of quadrotor systems suffering from uncertainties and disturbances. The super-twisting algorithm is a second-order sliding mode known to be a very effective control used to provide high precision and less chattering for uncertain nonlinear electromechanical systems. The proposed method is based on a non-singular terminal sliding surface with new exponent that solves the problem of singularity. The design procedure and the stability analysis of the closed-loop system using Lyapunov theory are detailed for the considered system. Finally, the proposed control scheme is tested in simulations and by experiments on the parrot-rolling spider quadrotor. Moreover, a comparison is made with the standard super-twisting algorithm in the simulation part. The results obtained show adequate performance in trajectory tracking and chattering reduction.

scholarly journals Backstepping Control of an Unmanned Helicopter Subjected to External Disturbance and Model Uncertainty

2021 ◽  
Vol 11 (12) ◽  
pp. 5331
Author(s):  
Wenlong Zhao ◽  
Zhijun Meng ◽  
Kaipeng Wang ◽  
Haoyu Zhang
Keyword(s):  
External Disturbance ◽  
Flight Test ◽  
Lyapunov Theory ◽  
Outdoor Environment ◽  
Wind Gust ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
The Stability

A helicopter is a highly nonlinear system. Its mathematical model is difficult to establish accurately, especially the complicated flapping dynamics. In addition, the forces and moments exerted on the fuselage are very vulnerable to external disturbances like wind gust when flying in the outdoor environment. This paper proposes a composite control scheme which consists of a nonlinear backstepping controller and an extended state observer (ESO) to handle the above problems. The stability of the closed-loop system can be guaranteed based on Lyapunov theory. The external disturbances and model nonlinearities are treated as a lumped disturbance. Meanwhile, the ESO is employed to compensate the influence by estimating the lumped disturbance in real-time. Numerical simulation results are presented to demonstrate that the algorithm can achieve accurate and agile attitude tracking under the external wind gust disturbances even with model uncertainties. When coming to the flight test, a block dropping device was designed to generate a quantifiable and replicable disturbance, and the experimental results indicate that the algorithm introduced above can reject the external disturbance rapidly and track the given attitude command precisely.

L1 neural network adaptive fault-tolerant controller for unmanned aerial vehicle attitude control system

2021 ◽  
pp. 095441002098409
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Jing Li
Keyword(s):  
Neural Network ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Attitude Control System ◽  
Attitude Tracking ◽  
Nonlinear Uncertainties ◽  
Aerial Vehicle

In this article, a L1 neural network adaptive fault-tolerant controller is exploited for an unmanned aerial vehicle attitude control system in presence of nonlinear uncertainties, such as system uncertainties, external disturbances, and actuator faults. A nonlinear dynamic inversion controller with sliding mode control law is designed as the outer-loop controller to track the attitude angles quickly and accurately which reduces dependence on model accuracy. A L1 neural network adaptive controller of the inner loop is introduced to compensate the nonlinear uncertainties and have a good attitude tracking. The radial basis function neural network technique is introduced to approximate a lumped nonlinear uncertainty and guarantee the stability and transient performance of the closed-loop system, instead of converting it to a half-time linear system by the parametric linearization method. Simulation results demonstrate the effectiveness of the proposed controller.

scholarly journals Iterative Learning Sliding Mode Control for UAV Trajectory Tracking

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2474
Author(s):  
Lanh Van Nguyen ◽  
Manh Duong Phung ◽  
Quang Phuc Ha
Keyword(s):  
Trajectory Tracking ◽  
Attitude Control ◽  
Sliding Mode ◽  
A Priori ◽  
Iterative Learning ◽  
Time Data ◽  
External Disturbances ◽  
Control Scheme ◽  
Equivalent Control ◽  
Priori Information

This paper presents a novel iterative learning sliding mode controller (ILSMC) that can be applied to the trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) subject to model uncertainties and external disturbances. Here, the proposed ILSMC is integrated in the outer loop of a controlled system. The control development, conducted in the discrete-time domain, does not require a priori information of the disturbance bound as with conventional SMC techniques. It only involves an equivalent control term for the desired dynamics in the closed loop and an iterative learning term to drive the system state toward the sliding surface to maintain robust performance. By learning from previous iterations, the ILSMC can yield very accurate tracking performance when a sliding mode is induced without control chattering. The design is then applied to the attitude control of a 3DR Solo UAV with a built-in PID controller. The simulation results and experimental validation with real-time data demonstrate the advantages of the proposed control scheme over existing techniques.

scholarly journals Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

Processes ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1951
Author(s):  
Shun-Hung Tsai ◽  
Yi-Ping Chang ◽  
Hung-Yi Lin ◽  
Luh-Maan Chang
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Unmanned Aircraft ◽  
Trajectory Tracking Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Tracking Controller ◽  
Backstepping Sliding Mode Control ◽  
Trajectory Tracking Controller ◽  
The Stability

A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.

scholarly journals Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Lei Zuo ◽  
Ye Zhang ◽  
Maode Yan ◽  
Wenrui Ma
Keyword(s):  
Sliding Mode ◽  
Quadratic Function ◽  
External Disturbances ◽  
Time Headway ◽  
Driving Behaviors ◽  
Traffic Capacity ◽  
Control Scheme ◽  
Mode Method ◽  
Vehicle Platoon ◽  
The Stability

This paper investigates the nonlinear vehicle platoon control problems with external disturbances. The quadratic spacing policy (QSP) is applied into the platoon control, in which the desired intervehicle distance is a quadratic function in terms of the vehicle’s velocities. Comparing with the general constant time headway policy (CTHP), the QSP is more suitable to the human driving behaviors (HDB) and can improve the traffic capacity. Then, a novel platoon control scheme is proposed based on the distributed integrated sliding mode (DISM). Since the external disturbances are taken into consideration, the sliding mode method is employed to handle the disturbances. Moreover, the stability and string stability of the proposed platoon control system are strictly analyzed. In final, numerical simulations are provided to verify the proposed approaches.

scholarly journals Terminal Sliding Mode Control with Unidirectional Auxiliary Surfaces for Hypersonic Vehicles Based on Adaptive Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Naibao He ◽  
Changsheng Jiang ◽  
Bin Jiang ◽  
Qian Gao
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Hypersonic Vehicles ◽  
Control Performance ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Control Scheme ◽  
Observer Model

A novel flight control scheme is proposed using the terminal sliding mode technique, unidirectional auxiliary surfaces and the disturbance observer model. These proposed dynamic attitude control systems can improve control performance of hypersonic vehicles despite uncertainties and external disturbances. The terminal attractor is employed to improve the convergence rate associated with the critical damping characteristics problem noted in short-period motions of hypersonic vehicles. The proposed robust attitude control scheme uses a dynamic terminal sliding mode with unidirectional auxiliary surfaces. The nonlinear disturbance observer is designed to estimate system uncertainties and external disturbances. The output of the disturbance observer aids the robust adaptive control scheme and improves robust attitude control performance. Finally, simulation results are presented to illustrate the effectiveness of the proposed terminal sliding mode with unidirectional auxiliary surfaces.

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