scholarly journals Automatic control of the microaerial vehicles’ attitude and position

2016 ◽  
Vol 9 (1) ◽  
pp. 61-73 ◽  
Author(s):  
Romulus Lungu ◽  
Mihai Lungu
Keyword(s):  
Attitude Control ◽  
Lyapunov Theory ◽  
Control Law ◽  
Nonlinear Dynamic Model ◽  
Damping Coefficients ◽  
Microaerial Vehicles ◽  
The Earth ◽  
Dynamic Damping ◽  
Dynamic Compensator ◽  
Automatic Systems

The paper focuses on two automatic systems for the attitude and position’s control of the microaerial vehicles—insect type by using a nonlinear dynamic model, which describes the motion of microaerial vehicles with respect to the Earth tied frame. The attitude control is adaptive type, with the estimation of the inertia moments’ matrix and of the dynamic damping coefficients’ matrix in two variants: by means of the attitude vector or by using the quaternion vector. The new resulting control architectures use a vector for the control of the microaerial vehicles’ attitude, a proportional-derivative linear dynamic compensator, an error vector (whose elements are the estimated deviations of the inertia moments and dynamic damping coefficients with respect to the real ones), and the Lyapunov theory. In the two variants of the adaptive control, the control law is represented by the command aerodynamic moments and the wing rotation’s command vector, respectively; the control law for the microaerial vehicle position’s control is deduced in the same way. The two obtained control systems are validated by complex numerical simulations.

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

scholarly journals Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Rui-Qi Dong ◽  
Yu-Yao Wu ◽  
Ying Zhang ◽  
Ai-Guo Wu
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Performance Criterion ◽  
Lyapunov Theory ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Inertia Matrix ◽  
Attitude Maneuver

In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Comparison of a Fuzzy Logic Controller With a P + D Control Law

1989 ◽  
Vol 111 (2) ◽  
pp. 128-137 ◽  
Author(s):  
S. Daley ◽  
K. F. Gill
Keyword(s):  
Fuzzy Logic ◽  
Attitude Control ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Good Control ◽  
Control Law ◽  
Dynamic Coupling ◽  
Process Knowledge ◽  
Logic Control ◽  
Limited Process

A study is described that compares the performance of a self-organizing fuzzy logic control law (SOC) with that of the more traditional P + D algorithm. The multivariate problem used for the investigation is the attitude control of a flexible satellite that has significant dynamic coupling of the axes. It is demonstrated that the SOC can provide good control, requires limited process knowledge and compares favorably with the P + D algorithm.

Adaptive Dynamic Surface Control of Bouc–Wen Hysteretic Systems

2016 ◽  
Vol 138 (9) ◽  
Author(s):  
Mansour Peimani ◽  
Mohammad Javad Yazdanpanah ◽  
Naser Khaji
Keyword(s):  
Sliding Mode ◽  
Dynamic Surface Control ◽  
Lyapunov Theory ◽  
Hysteretic Behavior ◽  
Control Law ◽  
Structural Systems ◽  
Control Force ◽  
Dynamic Surface ◽  
Adaptive Dynamic ◽  
Surface Control

This paper develops an adaptive dynamic surface algorithm for designing the control law for uncertain hysteretic structural systems with seismic disturbances that can be converted to a semi strict feedback form. Hysteretic behavior is usually described by Bouc–Wen model for hysteretic structural systems like base isolation systems. Adaptive sliding mode and adaptive backstepping algorithms are also studied and simulated for comparison purposes. The presented simulation results indicate the effectiveness of the proposed control law in reducing displacement, velocity and acceleration responses of the structural system with acceptable control force. Moreover, using dynamic surface control (DSC), the study analyzes the stability of the controlled system based on the Lyapunov theory.

scholarly journals Design of a Nonhomogeneous Nonlinear Synchronizer and Its Implementation in Reconfigurable Hardware

2020 ◽  
Vol 25 (3) ◽  
pp. 51
Author(s):  
Jesus R. Pulido-Luna ◽  
Jorge A. López-Rentería ◽  
Nohe R. Cazarez-Castro
Keyword(s):  
Asymptotic Stability ◽  
Test Performance ◽  
State Feedback ◽  
Chaotic Systems ◽  
Reconfigurable Hardware ◽  
Lyapunov Theory ◽  
Control Law ◽  
Heterogeneous Dynamics ◽  
Two Systems ◽  
Error State

In this work, a generalization of a synchronization methodology applied to a pair of chaotic systems with heterogeneous dynamics is given. The proposed control law is designed using the error state feedback and Lyapunov theory to guarantee asymptotic stability. The control law is used to synchronize two systems with different number of scrolls in their dynamics and defined in a different number of pieces. The proposed control law is implemented in an FPGA in order to test performance of the synchronization schemes.

scholarly journals Implementation and Hardware-In-The-Loop Simulation of a Magnetic Detumbling and Pointing Control Based on Three-Axis Magnetometer Data

Aerospace ◽  
2019 ◽  
Vol 6 (12) ◽  
pp. 133 ◽  
Author(s):  
M. Salim Farissi ◽  
Stefano Carletta ◽  
Augusto Nascetti ◽  
Paolo Teofilatto
Keyword(s):  
Attitude Control ◽  
Experimental Testing ◽  
Hardware In The Loop ◽  
Attitude Dynamics ◽  
The Earth ◽  
Earth Magnetic Field ◽  
Magnetic Attitude Control ◽  
Magnetometer Data ◽  
The Subject ◽  
Pointing Control

The subject of this work is the implementation and experimental testing of a purely magnetic attitude control strategy, which can provide stabilization after the deployment and pointing of the spacecraft without any attitude information. In particular, the control produces the detumbling of the satellite and leads it to a desired attitude with respect to the direction of the Earth magnetic field, based on the only information provided by a three-axis magnetometer. The system is meant to be used as a backup solution, in case of failure of the primary strategy and is designed considering the constraints set on time of operations, power consumption, and peak electric current for a typical CubeSat mission. The detumbling and pointing algorithms are implemented on the FPGA core of a CubeSat on-board computer and tested by Hardware-in-the-loop simulations. The simulation setup includes a Helmholtz cage, recreating the magnetic environment along the orbit, the on-board computer, a MEMS three-axis magnetometer and Simulink software, on which the attitude dynamics is propagated. Test on the real system can provide useful information to select the parameters of the control, such as the gains, to estimate the limits of the system, the time of operations and prevent failures.

Robust Active Disturbance Rejection Control For Flexible Link Manipulator

Robotica ◽  
2019 ◽  
Vol 38 (1) ◽  
pp. 118-135 ◽  
Author(s):  
Raouf Fareh ◽  
Mohammad Al-Shabi ◽  
Maamar Bettayeb ◽  
Jawhar Ghommam
Keyword(s):  
Disturbance Rejection ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Active Disturbance Rejection Control ◽  
Flexible Link ◽  
Estimation Errors ◽  
Disturbance Estimation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

SummaryThis paper presents an advanced robust active disturbance rejection control (ADRC) for flexible link manipulator (FLM) to track desired trajectories in the joint space and minimize the link’s vibrations. It has been shown that the ADRC technique has a very good disturbance rejection capability. Both the internal dynamics and the external disturbances can be estimated and compensated in real time. The proposed robust ADRC control law is developed to solve the problems existing in the original version of the ADRC related to the disturbance estimation errors and the variation of the parameters. Indeed, these parameters cannot be included in the existing disturbances and then be estimated by the extended state observer. The proposed control law is based on the sliding mode technique, which considers the uncertainties in the control gains and disturbance estimation errors. Lyapunov theory is used to prove the closed-loop stability of the system. The proposed control strategy is simulated and tested experimentally on one FLM. The effect of the observer bandwidth on the system performance is simulated and studied to select the best values of the bandwidth frequency. The simulation and experimental results show that the proposed robust ADRC has better performance than the traditional ADRC.

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