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

A tube-based robust MPC for duty-cycled rotation needle steering systems with bounded disturbances

2021 ◽  
pp. 014233122110430
Author(s):  
Zhi Qi ◽  
Qianyue Luo ◽  
Hui Zhang
Keyword(s):  
Model Predictive Control ◽  
Linear Model ◽  
Predictive Control ◽  
Control Method ◽  
Controller Design ◽  
Control Approach ◽  
Bounded State ◽  
Non Linear ◽  
System States ◽  
Trajectory Tracking Controller

In this paper, we aim to design the trajectory tracking controller for variable curvature duty-cycled rotation flexible needles with a tube-based model predictive control approach. A non-linear model is adopted according to the kinematic characteristics of the flexible needle and a bicycle method. The modeling error is assumed to be an unknown but bounded disturbance. The non-linear model is transformed to a discrete time form for the benefit of predictive controller design. From the application perspective, the flexible needle system states and control inputs are bounded within a robust invariant set when subject to disturbance. Then, the tube-based model predictive control is designed for the system with bounded state vector and inputs. Finally, the simulation experiments are carried out with tube-based model predictive control and proportional integral derivative controller based on the particle swarm optimisation method. The simulation results show that the tube-based model predictive control method is more robust and it leads to much smaller tracking errors in different scenarios.

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

Adaptive Attitude Controller Design for a Rigid Satellite with Feedback Linearization Approach

2020 ◽  
Vol 67 (4) ◽  
pp. 1445-1469
Author(s):  
Akram Adnane ◽  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed ◽  
Jiang Hong ◽  
Zoubir Ahmed Foitih
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Attitude Controller ◽  
Feedback Linearization Approach
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