scholarly journals Attitude stabilization control for quadrotor using self-tuning fuzzy-PD

2020 ◽  
Vol 8 (2) ◽  
pp. 164-170
Author(s):  
Sumardi Sumardi ◽  
Hadha Afrisal ◽  
Wisnu Dyan Nugroho
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Absolute Error ◽  
Control Technique ◽  
Six Degrees Of Freedom ◽  
Attitude Stabilization ◽  
Stabilization Control ◽  
Self Tuning ◽  
Maximum Absolute Errors ◽  
Fuzzy Pd

This research aims to develop a quadrotor control system for maintaining its position and balance from disturbance while hovering. A fast and reliable control technique is required to respond to high maneuverability and high non-linearity of six degrees of freedom system. Hence, this research focuses on designing a Self-Tuning Fuzzy-PD control system for quadrotor’s attitude. The designed control system utilizes input data from the Inertial Navigation System (INS). Then the quadrotor’s attitude is controlled by passing the PWM signal to the flight controller APM 2.6. The result shows that the average absolute error for the roll, pitch, and yaw angles are relatively small, as mentioned consecutively 2.0790, 2.2660, and 1.5280, while the maximum absolute errors are 6.3140, 6.7220, and 3.820.

Development of active six-degrees-of-freedom microvibration control system using giant magnetostrictive actuators

2000 ◽  
Vol 9 (2) ◽  
pp. 175-185 ◽  
Author(s):  
Yoshiya Nakamura ◽  
Masanao Nakayama ◽  
Keiji Masuda ◽  
Kiyoshi Tanaka ◽  
Masashi Yasuda ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Magnetostrictive Actuators

Nonlinear system controllability analysis and autopilot design for bank-to-turn aircraft with two flaps

2018 ◽  
Vol 233 (5) ◽  
pp. 1772-1783 ◽  
Author(s):  
Jinlu Dong ◽  
Di Zhou ◽  
Chuntao Shao ◽  
Shikai Wu
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Nonlinear System ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Lyapunov Stability Theory ◽  
Zero Dynamics ◽  
Controlled System ◽  
Linearization Technique ◽  
Six Degrees Of Freedom

In this study, the six-degrees-of-freedom flight motion of a tail-controlled bank-to-turn aircraft with two flaps is described as a nonlinear control system. The controllability of this flap-controlled system is analyzed based on nonlinear controllability theory and the system is proved to be weakly controllable. By choosing the angle-of-attack and roll angle as the outputs of this control system, the zero dynamics of the system are analyzed using Lyapunov stability theory, and are proved to be stable under some conditions given by an inequality. Then an autopilot is designed for this system using the feedback linearization technique. Results of the numerical simulation for this control system show the effectiveness of the controllability analysis and autopilot design.

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

scholarly journals Design and development of anchoring positioning control system for riprap leveling ship

2021 ◽  
Vol 233 ◽  
pp. 04007
Author(s):  
Xiaotao Hua ◽  
Yan Liu ◽  
Haiyang Sun ◽  
Jianru Chen
Keyword(s):  
Control System ◽  
Equilibrium State ◽  
Degrees Of Freedom ◽  
Wind Wave ◽  
Control Method ◽  
Positioning Control ◽  
Six Degrees Of Freedom ◽  
Hydrodynamic Parameters ◽  
Convergence Control ◽  
Heading Angle

It is very important to level foundation bed by riprap in water and soil engineering. In this paper, a real-time feedback convergence control method is proposed to control the position and heading angle of the riprap leveling ship. The wind, wave, current and hydrodynamic parameters are obtained by empirical formula; the tension of four cables is calculated according to the balance equation of six degrees of freedom, and then the cable deformation is obtained. According to the deformation of the cable, the length of the cable in a certain equilibrium state can be obtained. The length of four cables can be lengthened or shortened by comparing the length of cables at two balanced positions. The length of cables can be controlled by winch to complete the anchoring and positioning control of leveling ship.

Design and Experimental Results of a Quad-Rotor Control System

2013 ◽  
Vol 284-287 ◽  
pp. 1799-1805
Author(s):  
Tae Sam Kang ◽  
Gi Gun Lee ◽  
Jung Hwan Kim
Keyword(s):  
Nonlinear Dynamics ◽  
Control System ◽  
Linear Model ◽  
Attitude Control ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Aerial Vehicle ◽  
Attitude Controller ◽  
Rotor Control

Multi-rotor is one of the emerging Unmanned Aerial Vehicle platforms. This paper covers the design, fabrication, modeling and testing of a quad-rotor control system. To take into account the salient nonlinearities, a model with six degrees of freedom nonlinear dynamics and some linear approximation of the aerodynamic part are used when extracting a linear model and designing a attitude controller. We obtained a linear model from experimental data using system identification method and developed attitude control algorithm. The control algorithm was realized using an on a board microprocessor and verified through experiment in real environment.

scholarly journals Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Xing Huo ◽  
Mingyi Huo ◽  
Hamid Reza Karimi
Keyword(s):  
External Disturbance ◽  
Dynamical Behavior ◽  
Control Technique ◽  
Nonlinear Controller ◽  
Unit Quaternion ◽  
Control Approach ◽  
Attitude Stabilization ◽  
Stabilization Control ◽  
Unmanned Air Vehicle ◽  
Asymptotic Stable

The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

Pendulation Reduction on Small Ship-Mounted Telescopic Cranes

2004 ◽  
Vol 10 (8) ◽  
pp. 1167-1179 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Mohammed F. Daqaq ◽  
Nader A. Nayfeh
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Working Environment ◽  
Control Technique ◽  
Horizontal Position ◽  
Position Feedback ◽  
Small Ship ◽  
Wave Induced ◽  
Control Challenge

Small ship-mounted telescopic cranes are used to load and unload cargo of limited size and weight. The wave-induced motions of the crane ship can cause large pendulations of the hoisted payload bringing the transfer operations to a complete halt. The small size of such a crane, combined with its limited maneu-verability, compared to the relatively larger motion of the host ship, poses a serious control challenge. In this work, a nonlinear control system is introduced which reduces pendulations on these cranes to the point where the transfer operations do not pose a dangerous working environment. Delayed position-feedback technique is used to reduce the payload pendulations. The presented control system uses the slewing, luffing, and telescopic degrees of freedom of the crane to drive the horizontal position of the boom tip. The saturation problem arising from the limited speed and motion of the crane actuators is another issue addressed by this control technique. To demonstrate the performance of the developed control system, numerical simulations are performed on a nonlinear three-dimensional mathematical model of the telescopic crane mounted on the USNS WATERS. The crane has four degrees of freedom: hoisting, slewing, luffing, and extension of the telescopic boom. In addition to its limited maneuverability, nonlinear hydraulic actuators are used for the luffing and extensional degrees of freedom.

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