Robustness investigation of a ducted-fan aerial vehicle control, using linear, adaptive, and model predictive controllers

Purpose A fixed wing unmanned aerial vehicle (FWUAV) is targeted to perform processor in the loop (PIL) simulations for the flight scenarios such as straight and level, level climb, level turn, climbing turn and level steady heading sideslip under windy conditions such as steady wind (SW) and wind gust (WG) in a desired and controlled manner. Design/methodology/approach The constrained multi-input–multi-output (MIMO) lateral and longitudinal linear models-based model predictive controllers (MPCs) which are proposed in a previous study (Ulker et al., 2017) are tested in the PIL simulations under specified windy conditions. BeagleBone Black Rev C is used as a target hardware or processor in the PIL simulations. Findings The results of the PIL simulations show that the MPCs proposed in the previous study can achieve satisfactory performance and flying qualities for the all flight scenarios handled in this paper under windy conditions. Practical implications The MPCs proposed in the previous study can be easily implemented in the real world to a low-cost and small-sized board like BeagleBone Black Rev C which is used in this paper. Originality/value The proposed MPCs in the previous study which are capable of providing more flexibility in terms of tracking complex trajectories are showed to be able to be implemented to real system by means of PIL simulations under the changeable windy conditions which are difficult for performance tests.

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On closed-loop stability of model predictive controllers with learning costs

2020 European Control Conference (ECC) ◽

10.23919/ecc51009.2020.9143704 ◽

2020 ◽

Author(s):

Lukas Beckenbach ◽

Pavel Osinenko ◽

Stefan Streif

Keyword(s):

Closed Loop ◽

Model Predictive Controllers ◽

Predictive Controllers ◽

Loop Stability

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Model Predictive Controllers with Capacitor Voltage Balancing for a Single-Phase Five-level SiC/Si based ANPC Inverter

IEEE Open Journal of Power Electronics ◽

10.1109/ojpel.2021.3066924 ◽

2021 ◽

pp. 1-1

Author(s):

Mohammad Najjar ◽

Mahdi Shahparasti ◽

Rasool Heydari ◽

Morten Nymand

Keyword(s):

Single Phase ◽

Voltage Balancing ◽

Capacitor Voltage ◽

Model Predictive Controllers ◽

Predictive Controllers

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A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle

Actuators ◽

10.3390/act10030054 ◽

2021 ◽

Vol 10 (3) ◽

pp. 54

Author(s):

Minh-Thien Tran ◽

Dong-Hun Lee ◽

Soumayya Chakir ◽

Young-Bok Kim

Keyword(s):

Time Delay ◽

Sliding Mode Control ◽

Unmanned Aerial Vehicle ◽

Sliding Mode ◽

Time Delay Estimation ◽

Delay Estimation ◽

Mode Control ◽

Ducted Fan ◽

Control Scheme ◽

Aerial Vehicle

This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system. Such systems are highly nonlinear; hence, the proposed control scheme is a combination of several control schemes; super-twisting sliding mode, TDE technique to estimate the nonlinear factors of the system, and an adaptive sliding mode. The tracking error of the ASTSMC-TDE is guaranteed to be uniformly ultimately bounded using Lyapunov stability theory. Moreover, to enhance the versatility and the practical feasibility of the proposed control scheme, a comparison study between the proposed controller and a proportional-integral-derivative controller (PID) is conducted. The comparison is achieved through two different scenarios: a normal mode and an abnormal mode. Simulation and experimental tests are carried out to provide an in-depth investigation of the performance of the proposed ASTSMC-TDE control system.

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