Research of Robust Flight Control Algorithm for Quadrotor UAV

For quadrotor unmanned air vehicles (UAVs) nonlinear control problems under disturbance conditions, a nested loop control approach is presented to realize robust control. The robust control approach is proposed to solve the stabilization and navigation problems in the quadrotor. The robust control strategy is composed of two controllers. A nonlinear backstepping controller is designed for the inner loop to stabilize the attitude angle. A PID controller based on BP neural network is designed for the outer loop in order to generate the reference path for the inner loop. Numerous simulations and flight test experiments have been made to study the performance of controller based on the independently developed quadrotor UAV. The results illustrate that the proposed controller has good stability, maneuverability and robustness.

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Wavelet Neural Network Based Adaptive Robust Control for a Class of MIMO Nonlinear Systems

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.383-390.290 ◽

2011 ◽

Vol 383-390 ◽

pp. 290-296

Author(s):

Yong Hong Zhu ◽

Wen Zhong Gao

Keyword(s):

Neural Network ◽

Robust Control ◽

Nonlinear Systems ◽

Wavelet Neural Network ◽

Adaptive Robust Control ◽

Loop Control ◽

Control Approach ◽

Mimo Nonlinear Systems ◽

Output Tracking Control ◽

Dynamic Inverse

Wavelet neural network based adaptive robust output tracking control approach is proposed for a class of MIMO nonlinear systems with unknown nonlinearities in this paper. A wavelet network is constructed as an alternative to a neural network to approximate unknown nonlinearities of the classes of systems. The proposed WNN adaptive law is used to compensate the dynamic inverse errors of the classes of systems. The robust control law is designed to attenuate the effects of approximate errors and external disturbances. It is proved that the controller proposed can guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in the sense of Lyapunov. In the end, a simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.

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Robust control for hypersonic vehicles with parametric and unstructured uncertainties

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406217720821 ◽

2017 ◽

Vol 232 (13) ◽

pp. 2369-2380 ◽

Cited By ~ 3

Author(s):

Hao Liu ◽

Deyuan Liu ◽

Jianxiang Xi ◽

Yao Yu

Keyword(s):

Robust Control ◽

Closed Loop ◽

Hypersonic Vehicles ◽

Frequency Range ◽

Parameter Uncertainties ◽

Loop Control ◽

Control Approach ◽

Closed Loop Control System ◽

Loop Control System ◽

Multiple Uncertainties

A robust flight controller is proposed for the longitudinal model of generic hypersonic vehicles, whose dynamics involves nonlinearities, parameter uncertainties, and unstructured uncertainties. The proposed longitudinal controller is developed based on the standard [Formula: see text] theory and the robust compensating approach. The robust compensating approach is introduced to reduce the influences of multiple uncertainties and nonlinearities on the closed-loop control system. Compared to the [Formula: see text] control theory, these influences in the whole frequency range can be restrained. Theoretical analysis and numerical simulation results are presented to illustrate the tracking performance properties of the designed robust control approach.

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Scheduled smooth MIMO robust control of aircraft verified through blade element SIL testing

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331216661760 ◽

2016 ◽

Vol 40 (2) ◽

pp. 528-541 ◽

Cited By ~ 5

Author(s):

Coşku Kasnakoğlu

Keyword(s):

Robust Control ◽

Flight Control ◽

Design Procedure ◽

Weather Conditions ◽

Fast Response ◽

Control Approach ◽

Blade Element Theory ◽

Noise Rejection ◽

Grid Points ◽

Blade Element

This paper demonstrates a multi-input multi-output (MIMO) robust control approach where multiple scheduled designs are merged to produce a smooth control law. The design is verified using software-in-the-loop (SIL) testing based on blade element theory (BET) for highly realistic flight simulations. An inner-loop attitude controller balances performance and robustness, achieving a fast response time, low overshoot, good noise rejection and minimal lateral–longitudinal coupling. The controllers are formed at several predetermined grid points so the design covers a wide flight envelope. Blade element SIL testing shows that the flight control system preserves stable flight and follows the references well, even under tough weather conditions. The proposed strategy is also compared with a classical autopilot design procedure and is seen to be superior.

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Historical Overview of Research in Reconfigurable Flight Control

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1243/095441005x30379 ◽

2005 ◽

Vol 219 (4) ◽

pp. 263-275 ◽

Cited By ~ 79

Author(s):

M Steinberg

Keyword(s):

Intelligent Control ◽

Flight Control ◽

Flight Test ◽

Historical Overview ◽

Reconfigurable Control ◽

Control Laws ◽

Loop Control ◽

Software Algorithms ◽

Lifting Surfaces ◽

Initial Research

This article presents a historical overview of research in reconfigurable flight control. For the purpose of this article, the term ‘reconfigurable flight control’ is used to refer to software algorithms designed specifically to compensate for failures or damage of flight control effectors or lifting surfaces, using the remaining effectors to generate compensating forces and moments. This article will discuss initial research and flight testing of approaches based on explicit fault detection, isolation, and estimation, as well as later approaches based on continuously adaptive and intelligent control algorithms. In addition, approaches for trajectory reshaping of an impaired aircraft with reconfigurable inner loop control laws will be briefly discussed. Finally, there will be some discussion on current implementations of reconfigurable control to improve safety on production and flight test aircraft and remaining challenges to enable broader use of the technology, such as the difficulties of flight certification of these types of approaches.

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Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures

Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University ◽

10.1051/jnwpu/20183640748 ◽

2018 ◽

Vol 36 (4) ◽

pp. 748-753 ◽

Cited By ~ 5

Author(s):

Xiaojun Xing ◽

Xiaoran Chen ◽

Longliang Huang ◽

Dongsheng Fan

Keyword(s):

Flight Control ◽

Active Fault ◽

Fault Tolerant ◽

Sliding Mode ◽

Digital Simulation ◽

Flight Test ◽

Rotor Blades ◽

Integral Sliding Mode ◽

Actuator Failures ◽

Quadrotor Uav

The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.

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GSA-based optimal backstepping controller with a fuzzy compensator for robust control of an autonomous quadrotor UAV

Aircraft Engineering and Aerospace Technology ◽

10.1108/aeat-11-2013-0194 ◽

2015 ◽

Vol 87 (5) ◽

pp. 493-505 ◽

Cited By ~ 4

Author(s):

Mohd Ariffanan Mohd Basri ◽

Abdul Rashid Husain ◽

Kumeresan A. Danapalasingam

Keyword(s):

Robust Control ◽

Quadrotor Uav ◽

Fuzzy Compensator ◽

Backstepping Controller

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A linear-quadratic-Gaussian approach for automatic flight control of fixed-wing unmanned air vehicles

The Aeronautical Journal ◽

10.1017/s0001924000005340 ◽

2011 ◽

Vol 115 (1163) ◽

pp. 29-41 ◽

Cited By ~ 4

Author(s):

C.-S. Lee ◽

W.-L. Chan ◽

S.-S. Jan ◽

F.-B. Hsiao

Keyword(s):

Flight Control ◽

Linear Quadratic Regulator ◽

Flight Test ◽

Computationally Efficient ◽

Linear Quadratic ◽

Linear Quadratic Gaussian ◽

Control Approach ◽

State Measurement ◽

Onboard System ◽

Lqg Controllers

AbstractThis paper presents the design and implementation of automatic flight controllers for a fixed-wing unmanned air vehicle (UAV) by using a linear-quadratic-Gaussian (LQG) control approach. The LQG design is able to retain the guaranteed closed-loop stability of the linear-quadratic regulator (LQR) while having incomplete state measurement. Instead of feeding back the actual states to form the control law, the estimated states provided by a separately designed optimal observer, i.e. the Kalman filter are used. The automatic flight controllers that include outer-loop controls are constructed based on two independent LQG regulators which govern the longitudinal and lateral dynamics of the UAV respectively. The resulting controllers are structurally simple and thus efficient enough to be easily realized with limited onboard computing resource. In this paper, the design of the LQG controllers is described while the navigation and guidance algorithm based on Global Positioning System (GPS) data is also outlined. In order to validate the performance of the automatic flight control system, a series of flight tests have been conducted. Significant results are presented and discussed in detail. Overall, the flight-test results show that it is highly feasible and effective to apply the computationally efficient LQG controllers on a fixed-wing UAV system with a relatively simple onboard system. On the other hand, a fully automatic 44km cross-sea flight demonstration was successfully conducted using the LQG-based flight controllers. Detailed description regarding the event and some significant flight data are given.

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Quadrotor UAV flight control via a novel saturation integral backstepping controller

Automatika ◽

10.1080/00051144.2019.1610838 ◽

2019 ◽

Vol 60 (2) ◽

pp. 193-206 ◽

Cited By ~ 6

Author(s):

Laihong Zhou ◽

Juqian Zhang ◽

Houxin She ◽

Hong Jin

Keyword(s):

Flight Control ◽

Quadrotor Uav ◽

Backstepping Controller

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Design and flight test of active flutter suppression on the X-56A multi-utility technology test-bed aircraft

The Aeronautical Journal ◽

10.1017/aer.2016.41 ◽

2016 ◽

Vol 120 (1228) ◽

pp. 893-909 ◽

Cited By ~ 20

Author(s):

E. L. Burnett ◽

J. A. Beranek ◽

B. T. Holm-Hansen ◽

C. J. Atkinson ◽

P. M. Flick

Keyword(s):

Flight Control ◽

Flight Test ◽

Test Bed ◽

Control Laws ◽

Control Approach ◽

Mode Control ◽

Flying Qualities ◽

Technical Challenges ◽

Long Endurance ◽

Aircraft Configurations

ABSTRACTEfforts to develop the next generation of aircraft with ever-increasing levels of performance – higher, farther, faster, cheaper – face great technical challenges. One of these technical challenges is to reduce structural weight of the aircraft. Another is to look to aircraft configurations that have been unrealizable to date. Both of these paths can lead to a rigid flex coupling phenomenon that can result in anything from poor flying qualities to the loss of an aircraft due to flutter. This has led to a need to develop an integrated flight and aeroelastic control capability where structural dynamics are included in the synthesis of flight control laws. Studies have indicated that the application of an integrated flight and aeroelastic control approach to a SensorCraft high-altitude long-endurance vehicle would provide substantial performance improvement(1,2). Better flying qualities and an expanded flight envelope through multi-flutter mode control are two areas of improvement afforded by integrated flight and aeroelastic control. By itself, multi-flutter mode control transforms the flutter barrier from a point of catastrophic structural failure to a benign region of flight. This paper discusses the history and issues associated with the development of such an integrated flight and aeroelastic control system for the X-56A aircraft.

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