A combined model reference adaptive control law for multirotor UAVs

Ghaffar, Alia Farhana Abdul; Richardson, Thomas; Greatwood, Collin

doi:10.1049/cth2.12137

Cited by 9 publications

(7 citation statements)

References 50 publications

(84 reference statements)

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“…Meanwhile, [36] considered an adaptive control law with a known input matrix substituted by its estimate. Lastly, [37,38] neglected the estimation error and considered an unknown input matrix to control uncrewed underwater and air vehicles, respectively. Hence, this manuscript uses the ideas originally proposed by CMRAC [31][32][33] to extend the D adaptive-passivity-based control (APBC) technique [30], which is ensure faster results than MRAC for the IFOC scheme.…”

Section: Of 20mentioning

confidence: 99%

Robust Combined Adaptive Passivity-Based Control for Induction Motors

Travieso-Torres,

Ricaldi-Morales,

Aguila-Camacho

2024

Preprint

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The need for industrial and commercial machinery to maintain high torque while accurately following a variable angular speed is increasing. To meet this demand, induction motors (IMs) are commonly used with variable speed drives (VSDs) that employ a field-oriented control (FOC) scheme. Over the last thirty years, IMs have been replacing independent connection direct current motors due to their cost-effectiveness, reduced maintenance needs, and increased efficiency. However, IMs and VSDs exhibit nonlinear behavior, uncertainties, and disturbances. This paper proposes a robust combined adaptive passivity-based control (CAPBC) for this class of nonlinear systems that applies to angular rotor speed and stator current regulation inside an FOC scheme for IMs´ VSDs. It uses general Lyapunov-based design energy functions and adaptive laws with σ-modification to assure robustness after combining control and monitoring variables. Lyapunov’s second method and Barbalat Lemma prove that the control and identification error tends to be zero over time. Moreover, comparative experimental results with standard Proportional Integer controller (PIC) and direct APBC, show the proposed CAPBC effectiveness and robustness under normal and changing conditions

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Section: Of 20mentioning

confidence: 99%

Robust Combined Adaptive Passivity-Based Control for Induction Motors

Travieso-Torres,

Ricaldi-Morales,

Aguila-Camacho

2024

Preprint

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“…A model reference adaptive system (MRAS) method was also demonstrated in [22] to estimate the position and speed of permanent magnet synchronous motor (PMSM) by considering the error between the real and the estimated rotor position values. Flight test results were presented in [23] for a combined model reference adaptive control (CMRAC) law applied to the height control loop of a multirotor. In [24], a new leakage-based mechanism was designed for robust adaptive control of uncertain switched systems: in contrast to the available designs, the key innovation of the proposed one was that the adaptive gains of the inactive subsystems can be kept constant to their switched-off values, thus preventing vanishing gains.…”

Section: Introductionmentioning

confidence: 99%

A New Observer-based Model- Reference Approach for Nonlinear Discrete-Time Systems with Application to Power Systems

Hassan¹,

Aljuwaiser²

2023

IJETAE

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In this paper, a novel observer-based modelreference technique is developed to control the performance of nonlinear discrete-time systems. Firstly, a linear or nonlinear model is chosen for which the dynamics are designed to satisfy the pre-specified performance behaviours of the nonlinear system as stated by the designer. The proposed approach is then used with the system to fulfil a point-by-point tracking of the pre-designed model trajectories. To achieve this goal, an observer is firstly used to predict the states and the output(s) at the next sampling point of the system to be controlled from the received set of measurements. The differences between the achieved predicted estimates and those of the model are then used to generate the necessary online closed-loop control actions to force the system trajectories to track those of the model at the next sampling instant of time, as desired. The stability of the closed-loop control system is investigated. To check the performance of the developed approach, it is then used to control the performance of a synchronous machine and a permanent magnet synchronous motor. The achieved results are presented to illustrate the effectiveness, simplicity, and applicability of the proposed design procedure

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“…Recently, many other novel height controllers have been designed for multirotor UAVs, considering disturbances in different scenarios. A combined model reference adaptive control law is given for height control loop of a multirotor [24]. An adaptive nonsingular fast terminal SMC strategy is introduced to realize height control for quadrotors with variable mass and external disturbance [25].…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Height Control of Quadrotor UAVs

Zhao

Xia

et al. 2023

Applied Sciences

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The quadrotor Unmanned Aerial Vehicle (UAV) belongs to an open-loop unstable nonlinear system, which also has the characteristics of underdrive, strong coupling and external disturbance. In the height control of quadrotor UAVs, the traditional sliding mode control (SMC) and PID methods cannot quickly and effectively eliminate disturbance effects caused by gust, aerodynamic drag and other factors, which indicates that the quadrotor UAV cannot return to its predetermined trajectory. To this end, this paper proposes a dual closed-loop finite-time height control method for the quadrotor UAV. The proposed method is able to estimate and compensate for the disturbance in the height control and make up for the lack of anti-disturbance ability in the control process. More specifically, a finite-time Extended State Observer (ESO) and a finite-time super-twisting controller are designed for the velocity control system to compensate for the total disturbance and track the rapidly changing expected signal. An integral sliding mode controller is designed for the height control system. Simulation results show that the proposed method can reduce the chattering phenomenon of traditional SMC and improve both control accuracy and convergence speed.

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A combined model reference adaptive control law for multirotor UAVs

Cited by 9 publications

References 50 publications

Robust Combined Adaptive Passivity-Based Control for Induction Motors

Robust Combined Adaptive Passivity-Based Control for Induction Motors

A New Observer-based Model- Reference Approach for Nonlinear Discrete-Time Systems with Application to Power Systems

Finite-Time Height Control of Quadrotor UAVs

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