Adaptive attitude controller design for tail-sitter unmanned aerial vehicles

2020 ◽  
pp. 107754632092535
Author(s):  
Deyuan Liu ◽  
Hao Liu ◽  
Jiansong Zhang ◽  
Frank L Lewis
Keyword(s):  
Adaptive Control ◽  
Unmanned Aerial Vehicles ◽  
Control Method ◽  
Controller Design ◽  
Dynamic Pressure ◽  
Tracking Errors ◽  
Control Approach ◽  
Aerial Vehicles ◽  
Attitude Tracking ◽  
Mode Transitions

Tail-sitter unmanned aerial vehicles have two flight modes: they can fly long distances at high cruising speeds as fixed-wing aircrafts; or hover, take off, and land vertically as rotary-wing aircrafts. The tail-sitter dynamics involves serious nonlinearities and high uncertainties, especially in the two flight mode transitions. In this article, an adaptive control approach is proposed for a class of tail-sitter unmanned aerial vehicles to achieve the robustness properties. The control torque allocation problem is addressed based on the dynamic pressure in the transition flight. The proposed control method does not need to switch the coordinate system, the controller structure, or the controller parameters in different flight modes. It is proven that the attitude tracking errors can converge into a given neighborhood of the origin in finite time. Simulation results are presented to show the advantages of the proposed adaptive control method.

scholarly journals Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 208 ◽  
Author(s):  
Sergio Garcia-Nieto ◽  
Jesus Velasco-Carrau ◽  
Federico Paredes-Valles ◽  
Jose Salcedo ◽  
Raul Simarro
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Attitude Control ◽  
Controller Design ◽  
Experimental Studies ◽  
Hardware In The Loop ◽  
Motion Equations ◽  
Design And Implementation ◽  
Aerial Vehicles ◽  
Attitude Tracking ◽  
Tracking Controller

This paper gathers the design and implementation of the control system that allows an unmanned Flying-wing to perform a Vertical Take-Off and Landing (VTOL) maneuver using two tilting rotors (Bi-Rotor). Unmanned Aerial Vehicles (UAVs) operating in this configuration are also categorized as Hybrid UAVs due to their ability of having a dual flight envelope: hovering like a multi-rotor and cruising like a traditional fixed-wing, providing the opportunity of facing complex missions in which these two different dynamics are required. This work exhibits the Bi-Rotor nonlinear dynamics, the attitude tracking controller design and also, the results obtained through Hardware-In-the-Loop (HIL) simulation and experimental studies that ensure the controller’s efficiency in hovering operation.

Modified Model-Free Adaptive Control Method Applied to Vibration Control of an Elastic Crane

2019 ◽  
Author(s):  
Hoang Anh Pham ◽  
Dirk Söffker
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Structural Information ◽  
Control Strategies ◽  
Control Input ◽  
Tracking Errors ◽  
Adaptive Controllers ◽  
Control Approach ◽  
Model Free ◽  
Controlled Systems

Abstract Model-free adaptive control (MFAC) is a data-driven control approach receiving increased attention in the last years. Different model-free-based control strategies are proposed to design adaptive controllers when mathematical models of the controlled systems should not be used or are not available. Using only measurements (I/O data) from the system, a feedback controller is generated without the need of any structural information about the controlled plant. In this contribution an improved MFAC is discussed for control of unknown multivariable flexible systems. The main improvement in control input calculation is based on the consideration of output tracking errors and its variations. A new updated control input algorithm is developed. The novel idea is firstly applied for controlling vibrations of a MIMO ship-mounted crane. The control efficiency is verified via numerical simulations. The simulation results demonstrate that vibrations of the elastic boom and the payload of the crane can be reduced significantly and better control performance is obtained when using the proposed controller compared to standard model-free adaptive and PI controllers.

Target tracking using multiple unmanned aerial vehicles: Graph theoretic nonlinear control approach

2016 ◽  
Vol 231 (3) ◽  
pp. 570-586 ◽  
Author(s):  
K Subbarao ◽  
M Ahmed
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Target Tracking ◽  
Spanning Tree ◽  
Tracking Errors ◽  
Control Approach ◽  
Graph Theoretic ◽  
Aerial Vehicles ◽  
Flight Path Angle ◽  
Directed Spanning Tree ◽  
Multiple Unmanned Aerial Vehicles

This paper develops a cooperative controller for multiple Unmanned Aerial Vehicles (UAVs) with application to target tracking. The cooperation between the UAVs is established based on an algebraic graph connection and the target information is provided externally by pinning it into a subset of the network. A backstepping-like technique is employed to design a consensus-based controller for each UAV in order to achieve target tracking in 3-D. The proposed controller computes commanded signals for the speed, flight path angle, and heading angle to track the target. The paper considers both the cases of fixed and dynamically changing communication topologies. It is shown that target tracking is achieved for fixed connection topology, if the graph has a directed spanning tree; and for the dynamically changing topology, if the union of the graphs over finite time intervals has a directed spanning tree. The system’s stability is shown using a Lyapunov function-based approach for these cases. All tracking errors are shown to be bounded as long as the target states and its derivatives up to second order are bounded. Detailed numerical simulations further illustrate the controller performance.

scholarly journals A Novel Adaptive Control Approach Based on Available Headroom of the VSC-HVDC for Enhancement of the AC Voltage Stability

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3222
Author(s):  
Duc Nguyen Huu
Keyword(s):  
Adaptive Control ◽  
Voltage Stability ◽  
Reactive Power ◽  
Control Method ◽  
Offshore Wind ◽  
Voltage Source ◽  
Long Distance ◽  
Control Approach ◽  
Hvdc System ◽  
Voltage Support

Increasing offshore wind farms are rapidly installed and planned. However, this will pose a bottle neck challenge for long-distance transmission as well as inherent variation of their generating power outputs to the existing AC grid. VSC-HVDC links could be an effective and flexible method for this issue. With the growing use of voltage source converter high-voltage direct current (VSC-HVDC) technology, the hybrid VSC-HVDC and AC system will be a next-generation transmission network. This paper analyzes the contribution of the multi VSC-HVDC system on the AC voltage stability of the hybrid system. A key contribution of this research is proposing a novel adaptive control approach of the VSC-HVDC as a so-called dynamic reactive power booster to enhance the voltage stability of the AC system. The core idea is that the novel control system is automatically providing a reactive current based on dynamic frequency of the AC system to maximal AC voltage support. Based on the analysis, an adaptive control method applied to the multi VSC-HVDC system is proposed to realize maximum capacity of VSC for reactive power according to the change of the system frequency during severe faults of the AC grid. A representative hybrid AC-DC network based on Germany is developed. Detailed modeling of the hybrid AC-DC network and its proposed control is derived in PSCAD software. PSCAD simulation results and analysis verify the effective performance of this novel adaptive control of VSC-HVDC for voltage support. Thanks to this control scheme, the hybrid AC-DC network can avoid circumstances that lead to voltage instability.

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