Dynamic Modeling and Control Techniques for a Quadrotor

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium ◽

10.1115/omae2017-62003 ◽

2017 ◽

Cited By ~ 1

Author(s):

Zhengru Ren ◽

Roger Skjetne ◽

Zhen Gao

Keyword(s):

Model Predictive Control ◽

Predictive Control ◽

Pid Controller ◽

Degrees Of Freedom ◽

Multiple Shooting ◽

Control Input ◽

Lumped Mass ◽

Modeling And Control ◽

Overload Protection ◽

This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.

Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control ◽

Nonlinear Modeling and Control of a 3 DOF Helicopter

10.1115/esda2012-82555 ◽

2012 ◽

Cited By ~ 1

Author(s):

A. Chriette ◽

F. Plestan ◽

M. Odelga

Keyword(s):

Pitch Angle ◽

Sliding Mode ◽

Nonlinear Modeling ◽

Modeling And Control ◽

Control Approach ◽

Attitude Angle ◽

Controller Gain ◽

Online Adaptation ◽

Twisting Algorithm ◽

This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are based on adaptive version of super-twisting algorithm: this class of controllers keeps the robustness feature of sliding mode while reducing the well-known drawback of such control approach, the chattering, thanks to the online adaptation of the controller gain.

Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems

Applied Sciences ◽

10.3390/app11199108 ◽

2021 ◽

Vol 11 (19) ◽

pp. 9108

Author(s):

Zahra Samadikhoshkho ◽

Shahab Ghorbani ◽

Farrokh Janabi-Sharifi

Keyword(s):

Dynamic Modeling ◽

Sliding Mode ◽

Control Technique ◽

Adaptive Sliding Mode Control ◽

Modeling And Control ◽

Practical Applications ◽

Lagrange Formulation ◽

Continuum Robot ◽

Aerial Vehicle ◽

Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange formulation to deal with CR and the aerial vehicle as a unified system. For this purpose, a general vertical take-off and landing vehicle equipped with a tendon-driven continuum arm is considered to increase the dexterity and compliance of interactions with the environment. The presented model is independent of the motor’s configuration and tilt angles and can be applied to model any under/fully actuated ACMS. The modeling approach is complemented with a Lyapunov-wise stable adaptive sliding mode control technique to demonstrate the validity of the proposed method for such a complex system. Simulation results in free flight motion scenarios are reported to verify the effectiveness of the proposed modeling and control techniques.

Modelling of Dynamic and Control of Six-Rotor Autonomous Unmanned Aerial Vehicle

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.198.220 ◽

2013 ◽

Vol 198 ◽

pp. 220-225 ◽

Cited By ~ 4

Author(s):

Daniel Ołdziej ◽

Zdzisław Gosiewski

Keyword(s):

Equations Of Motion ◽

Control Plant ◽

Open Loop ◽

Simulation Environment ◽

Open Loop System ◽

Plant Model ◽

Modeling And Control ◽

Lqr Controller ◽

Aerial Vehicle ◽

The paper describes matters of modeling and control of aerial vehicle in rotorcraft configuration. Equations of motion were derived and dynamic model of six-rotor was build. To find the best adjustment of model to real object the dynamics of the drives was joined to the control plant model. Trimming and linearization were performed. Open loop system and LQR controller were checked in simulation environment. Next the faults of the actuator/sensor elements were arranged and the minimal number of observed outputs and drives for LQR stabilization process were specified.

Design, Modeling, and Control of a Portable Leg Rehabilitation System

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4035815 ◽

2017 ◽

Vol 139 (7) ◽

Cited By ~ 1

Author(s):

Khaled M. Goher ◽

Sulaiman O. Fadlallah

Keyword(s):

Mathematical Model ◽

Pid Controller ◽

Modeling And Control ◽

Spiral Dynamics ◽

Best Response ◽

Significant Difference ◽

Rehabilitation System ◽

Portable System ◽

And Control ◽

In this work, a novel design of a portable leg rehabilitation system (PLRS) is presented. The main purpose of this paper is to provide a portable system, which allows patients with lower-limb disabilities to perform leg and foot rehabilitation exercises anywhere without any embarrassment compared to other devices that lack the portability feature. The model of the system is identified by inverse kinematics and dynamics analysis. In kinematics analysis, the pattern of motion of both leg and foot holders for different modes of operation has been investigated. The system is modeled by applying Lagrangian dynamics approach. The mathematical model derived considers calf and foot masses and moment of inertias as important parameters. Therefore, a gait analysis study is conducted to calculate the required parameters to simulate the model. Proportional derivative (PD) controller and proportional-integral-derivative (PID) controller are applied to the model and compared. The PID controller optimized by hybrid spiral-dynamics bacteria-chemotaxis (HSDBC) algorithm provides the best response with a reasonable settling time and minimum overshot. The robustness of the HSDBC–PID controller is tested by applying disturbance force with various amplitudes. A setup is built for the system experimental validation where the system mathematical model is compare with the estimated model using system identification (SI) toolbox. A significant difference is observed between both models when applying the obtained HSDBC–PID controller for the mathematical model. The results of this experiment are used to update the controller parameters of the HSDBC-optimized PID.

Modeling and Control of Torso Compass Gait Biped Robot with AI Controller

Iraqi Journal for Electrical And Electronic Engineering ◽

10.37917/ijeee.13.1.4 ◽

2017 ◽

Vol 13 (1) ◽

pp. 32-37

Author(s):

Abbas Miry

Keyword(s):

Degrees Of Freedom ◽

Biped Robot ◽

Optimization Method ◽

Genetic Optimization ◽

Modeling And Control ◽

Optimal Value ◽

Result Show ◽

The Matrix ◽

And Control ◽

This work presents the mathematical model for a torso compass gait biped robot with three degrees of freedom (DOF) which is comprised of two legs and torso. Euler Lagrange method's is used to drive the dynamic equation of robot with computed control is used as a controller. The relative angles are used to simplify the robot equation and get the symmetry of the matrix. Convention controller uses critical sampling to find the value of KP and Kv in computed controller, in this paper the Genetic optimization method is used to find the optimal value of KP and Kv with suitable objective function which employ the error and overshoot to make the biped motion smooth as possible. To investigate the work of robot a Matlab 2013b is used and the result show success of modeling.

Development of a Ring Permeability Test System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.136.153 ◽

2010 ◽

Vol 136 ◽

pp. 153-157

Author(s):

Yu Hong Du ◽

Xiu Ming Jiang ◽

Xiu Ren Li

Keyword(s):

Control System ◽

Control Method ◽

Dynamic Performance ◽

Experimental Tests ◽

Measuring Method ◽

Test System ◽

Fluid Theory ◽

And Control ◽

Relationship Of ◽

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

Performance analysis of MR damper based semi-active suspension system using optimally tuned controllers

10.1177/09544070211004467 ◽

2021 ◽

pp. 095440702110044

Author(s):

Gurubasavaraju Tharehalli mata ◽

Vijay Mokenapalli ◽

Hemanth Krishna

Keyword(s):

Pid Controller ◽

Ride Comfort ◽

Sliding Mode ◽

Dynamic Performance ◽

Parametric Method ◽

Mr Damper ◽

Active Suspension ◽

Suspension System ◽

Sliding Mode Controller ◽

Road Excitation

This study assesses the dynamic performance of the semi-active quarter car vehicle under random road conditions through a new approach. The monotube MR damper is modelled using non-parametric method based on the dynamic characteristics obtained from the experiments. This model is used as the variable damper in a semi-active suspension. In order to control the vibration caused under random road excitation, an optimal sliding mode controller (SMC) is utilised. Particle swarm optimisation (PSO) is coupled to identify the parameters of the SMC. Three optimal criteria are used for determining the best sliding mode controller parameters which are later used in estimating the ride comfort and road handling of a semi-active suspension system. A comparison between the SMC, Skyhook, Ground hook and PID controller suggests that the optimal parameters with SMC have better controllability than the PID controller. SMC has also provided better controllability than the PID controller at higher road roughness.