Differentially flat trajectory generation and controller design for a quadrotor UAV

2021 ◽  
Vol 37 (1) ◽  
pp. 32
Author(s):  
Arindam Singha ◽  
Anjan Kumar Ray ◽  
Arun Baran Samaddar
Keyword(s):  
Controller Design ◽  
Trajectory Generation ◽  
Quadrotor Uav

scholarly journals Non-linear Adaptive Attitude Controller Design of Quadrotor UAV

2012 ◽  
Vol 13 (6) ◽  
pp. 2421-2427 ◽  
Author(s):  
In-Ho Choi ◽  
Mu-Hyuk Park ◽  
Hyun-Gi Kim
Keyword(s):  
Controller Design ◽  
Quadrotor Uav ◽  
Non Linear ◽  
Attitude Controller

scholarly journals Multi-layered optimal navigation system for quadrotor UAV

2019 ◽  
Vol 92 (2) ◽  
pp. 145-155
Author(s):  
Kheireddine Choutri ◽  
Mohand Lagha ◽  
Laurent Dala
Keyword(s):  
Navigation System ◽  
Trajectory Generation ◽  
Computation Time ◽  
Control Architecture ◽  
Layered System ◽  
Computationally Efficient ◽  
Content Type ◽  
Quadrotor Uav ◽  
Multi Objective Genetic Algorithm ◽  
Output Space

Purpose This paper aims to propose a new multi-layered optimal navigation system that jointly optimizes the energy consumption, improves the robustness and raises the performance of a quadrotor unmanned aerial vehicle (UAV). Design/methodology/approach The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure the UAV from collisions. Finally, the control layer allows the quadrotor to track the generated path and guarantees the stability using a double loop non-linear optimal backstepping controller (OBS). Findings All the obtained results are confirmed using several scenarios in different situations to prove the accuracy, energy optimization and the robustness of the designed system. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The originality of this research is the design of a multi-layered optimal navigation system for quadrotor UAV. The proposed control architecture presents a direct relation between the states and their derivatives, which then simplifies the trajectory generation problem. Furthermore, the derived differentially flat equations allow optimization to occur within the output space as opposed to the control space. This is beneficial because constraints such as obstacle avoidance occur in the output space; hence, the computation time for constraint handling is reduced. For the OBS, the novelty is that all controller parameters are derived using the multi-objective genetic algorithm (MO-GA) that optimizes all the quadrotor state’s cost functions jointly.

Adaptive trajectory tracking controller design for a quadrotor UAV with payload variation

2018 ◽  
Vol 11 (4) ◽  
pp. 496-510 ◽  
Author(s):  
Shuai An ◽  
Suozhong Yuan ◽  
Huadong Li
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
System Structure ◽  
Adaptive Sliding Mode Control ◽  
Wind Disturbance ◽  
Content Type ◽  
Quadrotor Uav ◽  
Tracking Controller ◽  
Trajectory Tracking Controller ◽  
Payload Variation

Purpose The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor, which is used for goods distribution in huge warehouses, under time-varying payload and external wind disturbance. Design/methodology/approach A trajectory tracking controller design based on the combination of an adaptive sliding mode control (ASMC) method and the active disturbance rejection control (ADRC) technique is proposed. Besides, an inner–outer loop control system structure is adopted. Findings Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions, including parameter uncertainty and external wind disturbance. The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance. Originality/value The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.

Optimal Energy Trajectory Generation for a Quadrotor UAV Using Geometrically Exact Computations on SE(3)

2019 ◽  
Vol 3 (1) ◽  
pp. 216-221
Author(s):  
A. Nikhilraj ◽  
H. Simha ◽  
H. Priyadarshan
Keyword(s):  
Trajectory Generation ◽  
Quadrotor Uav ◽  
Optimal Energy
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