scholarly journals Quadrotor Controller Design Techniques and Applications Review

2021 ◽  
Vol 13 (3) ◽  
pp. 179-194
Author(s):  
Mohamad Norherman SHAUQEE ◽  
Parvathy RAJENDRAN ◽  
Nurulasikin Mohd SUHADIS
Keyword(s):  
Controller Design ◽  
Nonlinear Controller ◽  
Intelligent Controller ◽  
The Past ◽  
Stabilization Control ◽  
Highly Nonlinear ◽  
Performance Specifications ◽  
Hover Flight ◽  
Quadrotor System ◽  
Design Techniques

Rotor-craft style UAV, such as the quadrotor, has become increasingly popular with researchers due to its advantages over fixed-wing UAV. The quadrotor is highly maneuverable, can perform vertical take-off and landing (VTOL), and can hover flight capability. Nevertheless, handling the quadrotor complex, highly nonlinear dynamics is difficult and challenging. A suitable control system is needed to control the quadrotor system effectively. Therefore, this paper presents a review of different controller design techniques used by researchers over the past years for the quadrotor rotational and translational stabilization control. Three categories are discussed: linear controller, nonlinear controller, and intelligent controller. Based on their performance specifications, the system rise time, settling time, overshoot, and steady-state error are discussed. Finally, a comparative analysis is tabulated, summarizing the literature in the performance specifications described above.

Multiple Sliding Surface Control: Theory and Application

2000 ◽  
Vol 122 (4) ◽  
pp. 586-593 ◽  
Author(s):  
J. K. Hedrick ◽  
P. P. Yip
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Control Input ◽  
Sliding Surface ◽  
Nonlinear Controller ◽  
Automotive Control ◽  
Surface Control ◽  
Surface Method ◽  
Highly Nonlinear ◽  
Automated Highway

This paper discusses the development of a nonlinear controller design methodology and its application to an automotive control problem. The method is called the “Multiple Sliding Surface” method and is closely related to sliding mode control, input/output linearization and integrator backstepping. The method was developed for a class of systems, typical of automotive control systems, where the uncertainties are “mismatched” and where many of the equations contain sparse, experimentally obtained maps. The error bounds on these maps are often unknown and their sparseness makes them difficult to differentiate. The developed method does not require any derivatives and has guaranteed semi-global stability. This paper summarizes the development of the method and applies it to the design of a highly nonlinear system. The example is a combined brake/throttle controller for precision vehicle following. This controller was implemented on the California PATH vehicles in DEMO’97, an automated highway technology demonstration that occurred in San Diego, California in August of 1997. [S0022-0434(00)03004-5]

scholarly journals Controller Design for the Rotational Dynamics of a Quadcopter

2019 ◽  
Vol 38 (2) ◽  
pp. 269-274
Author(s):  
Rabia Rashdi ◽  
Zeeshan Ali ◽  
Javed Rahman Larik ◽  
Liaquat Ali Jamro ◽  
Urooj Baig
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Euler Method ◽  
State Variables ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Highly Nonlinear

Researchers have shown their interests in establishing miniature flying robots to be utilized for, both, commercial and research applications. This is due to that fact that there appears to be a huge advancement in miniature actuators and sensors which depend on the MEMS (Micro Electro-Mechanical Systems) NEMS (Nano-Electro Mechanical Systems). This research underlines a detailed mathematical model and controller design for a quadcopter. The nonlinear dynamic model of the quadcopter is derived from the Newton-Euler method and Euler Lagrange method. The motion of a quadcopter can be classified into two subsystems: a rotational subsystem (attitude and heading) and translational subsystem (altitude and x and y motion). The rotational system is fully actuated whereas translational subsystem is under actuated. However, a quadcopter is 6 DOF (Degrees of Freedom) under actuated system. The controller design of a quadcopter is difficult due to its complex and highly nonlinear mathematical model where the state variables are strongly coupled and contain under actuated property. Nonlinear controller such as SMC (Sliding Mode Controller) is used to control altitude, yaw, pitch, and roll angles.Simulation results show that the robustness of the SMC design gives a better way to design a controller with autonomous stability flight with good tracking performance and improved accuracy without any chattering effect. The system states are following the desired trajectory as expected.

Design of Auto-Stabilization Control Technique for a Quadrotor System

2013 ◽  
Vol 313-314 ◽  
pp. 559-564
Author(s):  
Norafizah Abas ◽  
Rini Akmeliawati ◽  
Zulkiflie Ibrahim ◽  
M. Zamzuri A. Rashid ◽  
N. Hazahsha Samsudin
Keyword(s):  
Pid Controller ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Equations Of Motion ◽  
Control Technique ◽  
Proportional Integral Derivative ◽  
Stabilization Control ◽  
Highly Nonlinear ◽  
Quadrotor System ◽  
Manual Mode

This paper presents the design of auto-stabilization control technique for a quadrotor system. Aquadrotor is a highly nonlinear and has to be stabilized by a suitable control technique. Therefore, the main focus of this research is to design an appropriate control algorithm that able to auto-stabilize the quadrotor at hover. The dynamic modeling of the quadrotor is described by sets of equations of motion that are derived based on the Newton-Euler formalism with the implementation of UKF for parameter identification and state estimation. The control strategy adopted includes feedback linearization coupled with Proportional-Derivative (PD) controller for the translational subsystem and backstepping based Proportional-Integral-Derivative (PID) controller for the rotational subsystem. It is developed in MATLAB/Simulink platform and is validated via real-time implementation. Both controllers give satisfactory simulation results, where acceptable peak of overshoot and small steady state errors are achieved. Experimentally, the throttle is controlled in manual mode while attitude angles are stabilized automatically. The simulation and experimental results show that the proposed controller is able to effectively stabillized the quadrotor.

scholarly journals Design of Satellite Attitude Control Algorithm Based on the SDRE Method Using Gas Jets and Reaction Wheels

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Luiz C. G. de Souza ◽  
Victor M. R. Arena
Keyword(s):  
Attitude Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Algorithm Design ◽  
Large Angle ◽  
Space Mission ◽  
Control Technique ◽  
Gas Jets ◽  
State Dependent ◽  
Highly Nonlinear

An experimental attitude control algorithm design using prototypes can minimize space mission costs by reducing the number of errors transmitted to the next phase of the project. The Space Mechanics and Control Division (DMC) of INPE is constructing a 3D simulator to supply the conditions for implementing and testing satellite control hardware and software. Satellite large angle maneuver makes the plant highly nonlinear and if the parameters of the system are not well determined, the plant can also present some level of uncertainty. As a result, controller designed by a linear control technique can have its performance and robustness degraded. In this paper the standard LQR linear controller and the SDRE controller associated with an SDRE filter are applied to design a controller for a nonlinear plant. The plant is similar to the DMC 3D satellite simulator where the unstructured uncertainties of the system are represented by process and measurements noise. In the sequel the State-Dependent Riccati Equation (SDRE) method is used to design and test an attitude control algorithm based on gas jets and reaction wheel torques to perform large angle maneuver in three axes. The SDRE controller design takes into account the effects of the plant nonlinearities and system noise which represents uncertainty. The SDRE controller performance and robustness are tested during the transition phase from angular velocity reductions to normal mode of operation with stringent pointing accuracy using a switching control algorithm based on minimum system energy. This work serves to validate the numerical simulator model and to verify the functionality of the control algorithm designed by the SDRE method.

scholarly journals Machine Learning in P&C Insurance: A Review for Pricing and Reserving

Risks ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 4 ◽  
Author(s):  
Christopher Blier-Wong ◽  
Hélène Cossette ◽  
Luc Lamontagne ◽  
Etienne Marceau
Keyword(s):  
Machine Learning ◽  
Insurance Industry ◽  
Learning Algorithms ◽  
Machine Learning Algorithms ◽  
Actuarial Science ◽  
Science Field ◽  
The Past ◽  
Highly Nonlinear ◽  
Computer Scientists ◽  
Applications Of Machine Learning

In the past 25 years, computer scientists and statisticians developed machine learning algorithms capable of modeling highly nonlinear transformations and interactions of input features. While actuaries use GLMs frequently in practice, only in the past few years have they begun studying these newer algorithms to tackle insurance-related tasks. In this work, we aim to review the applications of machine learning to the actuarial science field and present the current state of the art in ratemaking and reserving. We first give an overview of neural networks, then briefly outline applications of machine learning algorithms in actuarial science tasks. Finally, we summarize the future trends of machine learning for the insurance industry.

Study on Intelligent Controller Design of Flow Metrological Calibration System

2020 ◽  
Author(s):  
Xiong Yin ◽  
Kai Wen ◽  
Yan Wu ◽  
Lei Zhou ◽  
Jing Gong
Keyword(s):  
Neural Network ◽  
Natural Gas ◽  
Pid Controller ◽  
Controller Design ◽  
Calibration System ◽  
Calibration Process ◽  
Intelligent Controller ◽  
Flow Adjustment ◽  
Precise Adjustment ◽  
Valve Opening

Abstract In recent years, China ramped up imports of natural gas to satisfy the growing demand, which has increased the number of trade meters. Natural gas flowmeters need to be calibrated regularly at calibration stations to ensure their accuracy. Nowadays, the flow metrological calibration process is done by the operator manually in China, which is easy to be affected by personnel experience and proficiency. China is vigorously developing industry 4.0 and AI(artificial intelligence) technologies. In order to improve the calibration efficiency, a design scheme of intelligent controller for flow metrological calibration system is first proposed in this paper. The intelligent controller can replace the operator for process switching and flow adjustment. First, the controller selects the standard flowmeter according to the type of the calibrated flowmeter, and switches the calibration process. To accurately control the calibration flow for 180 seconds, the controller continuously adjusts the regulating valve with a sequence of commands to the actuator. These commands are generated by intelligent algorithm which is predefined in the controller. Process switching is operated automatically according to flowmeter calibration specifications. In order to reach the required flow point quickly, the flow adjustment is divided into two steps: preliminary adjustment and precise adjustment. For preliminary adjustment, a BP neural network will be built first using the field historical data and simulation results. This neural network describes the relationship between the valve-opening scheme and the calibration flow. Therefore, it could give a calibration flow as close as possible to the expected value during calibration. For precise adjustment, an adaptive PID controller is used. It could adjust the valve opening degree automatically to make sure the flow deviation meet the calibration requirements. Since the PID controller is a self-adaptive PID controller, the process of adjustment is very quick, which can reduce the calibration time largely. After each calibration, both the original neural network and the adaptive function of the controller will be updated to achieve the self-growth. With the information of the calibrated flowmeter, the entire calibration system can run automatically. The experiment in a calibration station shows that the intelligent controller can control the deviation of the flow value within 5% during 4∼5 minutes.

Reporting altered test results in hemolyzed samples: is the cure worse than the disease?

2017 ◽  
Vol 55 (8) ◽  
pp. 1112-1114 ◽  
Author(s):  
Giuseppe Lippi ◽  
Gianfranco Cervellin ◽  
Mario Plebani
Keyword(s):  
Laboratory Data ◽  
Turnaround Time ◽  
Reliable Data ◽  
Test Results ◽  
The Past ◽  
Laboratory Test Results ◽  
Performance Specifications ◽  
Life Threatening ◽  
The Many ◽  
Definition Of

AbstractThe management of laboratory data in unsuitable (hemolyzed) samples remains an almost unresolved dilemma. Whether or not laboratory test results obtained by measuring unsuitable specimens should be made available to the clinicians has been the matter of fierce debates over the past decades. Recently, an intriguing alternative to suppressing test results and recollecting the specimen has been put forward, entailing the definition and implementation of specific algorithms that would finally allow reporting a preanalytically altered laboratory value within a specific comment about its uncertainty of measurement. This approach carries some advantages, namely the timely communication of potentially life-threatening laboratory values, but also some drawbacks. These especially include the challenging definition of validated performance specifications for hemolyzed samples, the need to producing reliable data with the lowest possible uncertainty, the short turnaround time for repeating most laboratory tests, the risk that the comments may be overlooked in short-stay and frequently overcrowded units (e.g. the emergency department), as well as the many clinical advantages of a direct communication with the physician in charge of the patient. Despite the debate remains open, we continue supporting the suggestion that suppressing data in unsuitable (hemolyzed) samples and promptly notifying the clinicians about the need to recollect the samples remains the most (clinically and analytically) safe practice.

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