Robust Attitude Control of Quadrotor Under Measurement Sensitivity and External Disturbance

2021 ◽  
Vol 70 (12) ◽  
pp. 1958-1968
Author(s):  
Sang-Young Oh ◽  
Ho-Lim Choi
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Measurement Sensitivity

scholarly journals Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Rui-Qi Dong ◽  
Yu-Yao Wu ◽  
Ying Zhang ◽  
Ai-Guo Wu
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Performance Criterion ◽  
Lyapunov Theory ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Inertia Matrix ◽  
Attitude Maneuver

In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

scholarly journals Quaternion-Based Attitude Control System Design of Single and Cooperative Spacecrafts: Boundedness of Solution Approach

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Harry Septanto ◽  
Riyanto T. Bambang ◽  
Arief Syaichu-Rohman ◽  
Ridanto Eko Poetro ◽  
Adrianto Ravi Ibrahim
Keyword(s):  
Control System ◽  
System Design ◽  
Attitude Control ◽  
Equilibrium Points ◽  
External Disturbance ◽  
Control System Design ◽  
Attitude Control System ◽  
Control Effort ◽  
Solution Approach ◽  
Boundedness Of Solution

It is well known that single equilibrium orientation point in matrix rotation is represented by two equilibrium points in quaternion. This fact would imply nonefficient control effort as well as problem in guaranteeing stability of the two equilibrium points in quaternion. This paper presents a solution to design quaternion-based spacecraft attitude control system whose saturation element is in its control law such that those problems are overcome. The proposed feature of methodology is the consideration on boundedness of solution in the control system design even in the presence of unknown external disturbance. The same methodology is also used to design cooperative spacecrafts attitude control system. Through the proposed method, the most relaxed information-state topology requirement is obtained, that is, the directed graph that contains a directed spanning tree. Some numerical simulations demonstrate effectiveness of the proposed feature of methodology.

scholarly journals NONLINEAR PREDICTIVE ATTITUDE CONTROL OF SPACECRAFT UNDER EXTERNAL DISTURBANCE

2002 ◽  
Vol 35 (1) ◽  
pp. 211-215 ◽  
Author(s):  
Hyunsam Myung ◽  
Choongsuk Oh ◽  
Min-Jea Tahk ◽  
Hyochoong Bang
Keyword(s):  
Attitude Control ◽  
External Disturbance

scholarly journals A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

2021 ◽  
Vol 22 (1) ◽  
pp. 270
Author(s):  
Vahid Razmavar ◽  
Heidar Ali Talebi ◽  
Farzaneh Abdollahi
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Parametric Uncertainty ◽  
Control Technique ◽  
Robust Controller ◽  
Nonlinear Disturbance Observer ◽  
Control Scheme ◽  
Nonlinear Disturbance ◽  
Flying Robot

<span>In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.</span>

Robust Constrained Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicle Based on Disturbance Observers

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
Bing Zhu ◽  
Mou Chen ◽  
Tao Li
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Position Control ◽  
External Disturbance ◽  
Input Saturation ◽  
Dynamic Surface Control ◽  
Trajectory Tracking Control ◽  
Dynamic Surface ◽  
Control Scheme ◽  
Aerial Vehicle

Abstract In this paper, a trajectory tracking control scheme for a quadrotor unmanned aerial vehicle (UAV) under unknown external disturbance and input saturation is developed. This scheme includes the position control system and attitude control one, in which the attitude control system is further divided into the fast loop for angular velocity and the slow one for attitude angle based on time-scale separation principle. Then, an input constrained dynamic surface control scheme combined with a disturbance observer is designed to achieve the total thrust, desired roll, and pitch angle in the position control system. For the coupled attitude system, a dynamic surface control scheme together with generalized model predictive controller (GMPC) is proposed to tackle both the fast loop system and the slow one. Since the unknown external disturbance and input saturation are considered, a sliding mode disturbance observer (SMDO) is further designed to achieve the strong robustness. Finally, some simulation results are presented to show robustness and effectiveness of our proposed tracking scheme.

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yihui Gong ◽  
Lin Li ◽  
Shengbo Qi ◽  
Changbin Wang ◽  
Dalei Song
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Control Scheme ◽  
Yaw Attitude ◽  
Nonlinear Hydrodynamics ◽  
Parameters Perturbation

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

RBF network based adaptive sliding mode control for solar sails

2018 ◽  
Vol 90 (8) ◽  
pp. 1180-1191 ◽  
Author(s):  
Xiaobin Lian ◽  
Jiafu Liu ◽  
Chuang Wang ◽  
Tiger Yuan ◽  
Naigang Cui
Keyword(s):  
Coordinate System ◽  
Attitude Control ◽  
Complex Space ◽  
Sliding Mode ◽  
External Disturbance ◽  
Inertial Coordinate System ◽  
Content Type ◽  
Nonlinear Dynamical ◽  
Rbf Network ◽  
Adaptive Sliding Mode

Purpose The purpose of this paper is to resolve complex nonlinear dynamical problems of the pitching axis of solar sail in body coordinate system compared with inertial coordinate system. And saturation condition of controlled torque of vane in the orbit with big eccentricity ration, uncertainty and external disturbance under complex space background are considered. Design/methodology/approach The pitch dynamics of the sailcraft in the prescribed elliptic earth orbits is established considering the torques by the control vanes, gravity gradient and offset between the center-of-mass (cm) and center-of-pressure (cp). The maximal torques afforded by the control vanes are numerically determined for the sailcraft at any position with any pitch angle, which will be used as the restriction of the attitude control torques. The finite/infinite time adaptive sliding mode saturation controller and Bang–Bang–Radial Basis Function (RBF) controller are designed for the sailcraft with restricted attitude control torques. The model uncertainty and the input error (the error between real input and ideal control law input) are solved using the RBF network. Findings The finite true anomaly adaptive sliding mode saturation controller performed better than the other two controllers by comparing the numerical results in the paper. The control torque saturation, the model uncertainty and the external disturbance were also effectively solved using the infinite and finite time adaptive sliding mode saturation controllers by analyzing the numerical simulations. The stabilization of the pitch motion was accomplished within half orbit period. Practical implications The complex accurate dynamics can be approximated using the RBF network. The controllers can be applied to stabilization of spacecraft attitude dynamics with uncertainties in complex space environment. Originality/value Advanced control method is used in this paper; saturation of controlled torque of vane is resolved when the orbit with big eccentricity ration is considered and uncertainty and external disturbance under complex space background are settled. Moreover, complex and accurate nonlinear dynamical model of pitching axis of solar sail in body coordinate system compared with inertial coordinate system is provided.

scholarly journals Reaction Wheel Installation Deviation Compensation for Overactuated Spacecraft with Finite-Time Attitude Control

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Aihua Zhang ◽  
Jianfei Ni ◽  
Hamid Reza Karimi
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Reaction Wheel ◽  
Compensation Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control

A novel attitude tracking control scheme is presented for overactuated spacecraft to address the attitude stabilization problem in presence of reaction wheel installation deviation, external disturbance and uncertain mass of moment inertia. An adaptive sliding mode control technique is proposed to track the uncertainty. A Lyapunov-based analysis shows that the compensation control law can guarantee that the desired attitude trajectories are followed in finite-time. The key feature of the proposed control strategy is that it globally asymptotically stabilizes the system, even in the presence of reaction wheel installation deviation, external disturbances, and uncertain mass of moment inertia. The attitude track performance using the proposed finite-time compensation control is evaluated through a numerical example.

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

2021 ◽  
Author(s):  
Kang Liu ◽  
Rujing Wang
Keyword(s):  
Angular Velocity ◽  
Finite Time ◽  
Attitude Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Input Saturation ◽  
Parametric Uncertainty ◽  
Accurate Information ◽  
Terminal Sliding Mode

Abstract This study considers the problem of finitetime attitude control for quadrotor unmanned aerial vehicles (UAVs) subject to parametric uncertainties, external disturbances, input saturation, and actuator faults. Under the strong approximation of radial basis function neural networks (RBFNN), an adaptive finitetime NN observer is first presented to obtain the accurate information of unavailable angular velocity. More importantly, an adaptive mechanism to adjust the output gain of the fuzzy logic system (FLS) is developed to avoid the selection of larger control gains, and can even work well without the prior information on the bound of the lumped disturbance. Based on the nonsingular fast terminal sliding mode manifold, a novel switching control law is designed by incorporating the adaptive FLS and fast continuous controller in order to remove the undesired chattering phenomenon and solve the negative effects induced from the parametric uncertainty, external disturbance, and actuator fault. To deal with the input saturation, an auxiliary system is constructed. The rigorous theoretical analysis is given to prove that all the signals in the closed-loop system are uniformly bounded, and tracking errors converge into bounded neighborhoods near the origin in finite time. Moreover, the issue of selecting control parameters is analyzed in detail. Last but not least, the comparative simulation results show the validity and feasibility of the proposed control framework.

Robust constrained fault-tolerant attitude control for flexible spacecraft

2017 ◽  
Vol 232 (16) ◽  
pp. 3011-3023 ◽  
Author(s):  
Haihui Long ◽  
Jiankang Zhao
Keyword(s):  
Attitude Control ◽  
Fault Tolerant ◽  
External Disturbance ◽  
Input Saturation ◽  
Flexible Spacecraft ◽  
Disturbance Attenuation ◽  
Actuator Faults ◽  
Partial Loss ◽  
Unknown Parameters ◽  
Disturbance Model

In this paper, robust constrained fault-tolerant attitude controllers are proposed for flexible spacecraft subjected to external disturbance, model uncertainty, input saturation, and actuator faults. Three types of actuator faults of spacecraft, i.e. partial loss of effectiveness, stuck fault, and outage fault, are modeled explicitly. To handle these actuator faults, a significant lemma is proposed and rigorous proof is conducted at length. By introducing two e-modification parameter update laws to online estimate the unknown parameters caused by actuator faults, constrained fault-tolerant attitude controllers of flexible spacecraft are designed to accommodate these faults without the need of any prior information about these faults. The proposed controllers can achieve the disturbance attenuation in the sense of [Formula: see text] gain. The effectiveness of the proposed algorithms is assessed through numerical simulations.

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