scholarly journals A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems

Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1586
Author(s):  
Jaemin Baek ◽  
Jinmyung Jung
Keyword(s):  
Pole Placement ◽  
Tracking Errors ◽  
Attitude Stabilization ◽  
Delayed Information ◽  
Model Free ◽  
System A ◽  
Control Scheme ◽  
Fast Convergence Rate ◽  
Model Free Control ◽  
Quadrotor System

This paper presents an extended time-delayed control (ETDC) scheme and applies it to a quadrotor system. The proposed ETDC scheme uses a one-sample delayed information of the system for canceling out the uncertainties and disturbances in nonlinear quadrotor system, which involves a combination of pole-placement term to deal with the pole assignment. Thus, the proposed one requires no prior knowledge about the quadrotor dynamics, which is called model-free control scheme, and then assures fast convergence rate while providing simplicity structure. To suppress time-delayed estimation (TDE) errors generated by using one-sample delayed information of the system, a new auxiliary control scheme is designed in the proposed ETDC scheme. It results in a proper switching gain without undesirable side effect, including chattering and input fluctuation. Moreover, given that it does not require any number of additional parameters, the number of the parameters in the proposed ETDC scheme has no change compared to that in conventional time-delayed control. From these benefits, the proposed one can be recognized as a simple and effective alternative to the quadrotor system with nonlinearity and complexity. The tracking errors are proved to be uniformly ultimately bounded through Lyapunov function. The effectiveness of the proposed ETDC scheme is verified by the simulation with the quadrotor system, which is compared to that of the conventional time-delayed control scheme.

Flight control boosters for three-dimensional trajectory tracking of quadrotor: Theory and experiment

2018 ◽  
Vol 232 (6) ◽  
pp. 709-727 ◽  
Author(s):  
Yasser Bouzid ◽  
Houria Siguerdidjane ◽  
Yasmina Bestaoui
Keyword(s):  
Flight Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Flight Control System ◽  
Model Free ◽  
Control Scheme ◽  
Output System ◽  
Model Free Control ◽  
Control Principle

The performance of any flight control system strictly depends on the feedback control scheme. In this article, two redundant controllers that could be implemented without much difficulty are proposed to boost and improve the capabilities of the popular feedback linearization controller. The first one is built upon the model-free control theory while the second one is based on the sliding mode framework. Herein, the model-free control principle is used to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) in addition to the feedback linearization controller that is used instead of the proportional–integral–derivative structure. Unlike the existing sliding mode techniques, the designed one uses an input-dependent sliding surface. An in-depth discussion is highlighted with detailed evaluation in terms of performance, consumed energy, and robustness by considering several scenarios and using several metrics. The numerical simulations have shown satisfactory results considering multi-input multi-output system model through an application to a small quadrotor. The effectiveness of this approach is validated by experimentation.

A concise funnel robust model-free control mechanism for hypersonic space vehicles based on error driving

2021 ◽  
pp. 095965182110229
Author(s):  
Xingge Li ◽  
Shufeng Zhang ◽  
Yashun Wang ◽  
Yao Liu ◽  
Zhengwei Fan ◽  
...  
Keyword(s):  
Control Mechanism ◽  
Controller Design ◽  
Parametric Uncertainty ◽  
Space Vehicles ◽  
Tracking Errors ◽  
Model Free ◽  
Robust Model ◽  
Model Free Control ◽  
Proportional Integral Controller ◽  
Model Free Controller

Based on non-affine models of hypersonic space vehicles, the tracking control problem of hypersonic vehicles is studied and analyzed in this article using funnel robust model-free control mechanism considering parametric uncertainty and external disturbances. First, the control system is decomposed into altitude subsystem and velocity subsystem. For altitude subsystem, we propose a concise funnel robust model-free control mechanism based on error driving, and a novel model transformation approach is applied to the controller design. The new model-free controller only contains a Hurwitz stable term and a filtering term, and does not need precise motion model and too much calculation, so it can improve the calculation speed of the system. For velocity subsystem, only a concise proportional-integral controller is needed to meet the tracking requirements. Moreover, the devised controller is capable of guaranteeing funnel performance on the altitude and velocity tracking errors. Finally, numerical simulation results are presented to verify the efficiency of the design.

scholarly journals Author Correction: Reliance on model-based and model-free control in obesity

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Lieneke K. Janssen ◽  
Florian P. Mahner ◽  
Florian Schlagenhauf ◽  
Lorenz Deserno ◽  
Annette Horstmann
Keyword(s):  
Model Based ◽  
Model Free ◽  
Model Free Control

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

scholarly journals Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator

2021 ◽  
Vol 11 (13) ◽  
pp. 6224
Author(s):  
Qisong Zhou ◽  
Jianzhong Tang ◽  
Yong Nie ◽  
Zheng Chen ◽  
Long Qin
Keyword(s):  
Visual Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Adaptive Optimization ◽  
Tracking Errors ◽  
Kinematics Model ◽  
Compound Control ◽  
Original Intention ◽  
Control Scheme ◽  
Specific Geometry

The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, performs flexible kinematic skills and competitive compound capability under complicated working circumstances. Nevertheless, the drawback of lacking the ability to perceive the environment to perform intelligently in complex scenarios leaves a lot to be improved, which is the original intention to introduce visual tracking feedback acting as an instructor. In this paper, a cable-driven snake-like robotic arm combined with a visual tracking technique is introduced. A visual tracking approach based on dual correlation filter is designed to guide the CHSM in detecting the target and tracing after its trajectory. Specifically, it contains an adaptive optimization for the scale variation of the tracking target via pyramid sampling. For the CHSM, an explicit kinematics model is derived from its specific geometry relationships and followed by a simplification for the inverse kinematics based on some assumption or limitation. A control scheme is brought up to combine the kinematics with visual tracking via the processing tracking errors. The experimental results with a practical prototype validate the availability of the proposed compound control method with the derived kinematics model.

Model-Based and Model-Free Control of DC-DC Converters with High-Order Dynamics and Limited Measurements

2020 ◽  
pp. 1-1
Author(s):  
Javier Loranca ◽  
Jonathan Carlos Mayo Maldonado ◽  
Gerardo Escobar ◽  
Carlos Villarreal-Hernandez ◽  
Thabiso Maupong ◽  
...  
Keyword(s):  
High Order ◽  
Model Based ◽  
Model Free ◽  
Model Free Control

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

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