A comparitive study on the control of UAVs for Trajectory tracking by MPC, SMC, Backstepping, and Fuzzy Logic controllers

Nasr, Mohamed E.; Ashraf, Muhammad; Hussein, Mahmoud; Salem, Ashraf; Elias, Catherine M.; Shehata, Omar M.; Morgan, Elsayed I.

doi:10.1109/icves.2018.8519511

Cited by 9 publications

(6 citation statements)

References 3 publications

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“…ki is a factor connecting the moment with the angular velocity i of the ith motor, in ( 14)- (17). Take into consideration the identity of the motors, the symmetry of their location, and the rigidity of the structure, and we can establish that at a fixed height (Z-axis) the moments J1 and J2 in (11)-( 13) are equal, i.e.…”

Section: System Modelmentioning

confidence: 99%

“…It should be noted that the central place of leading conferences and journal publications on control theory (see, for example, [15]- [17]) has recently been devoted to a review of control methods, which also include the backstepping procedure. So, the backstepping technique history for solving partial differential equations has been presented by the authors [15].…”

Section: Introductionmentioning

confidence: 99%

“…The authors give preference to the first two management methods, rightly pointing out their existing shortcomings that have taken place in practice. Unlike the previous publication, in addition to those considered, control based on fuzzy logic is studied by Nasr et al [17]. Unfortunately, preference for one method or another should be given only after an accurate study of the control object and its operating conditions.…”

Section: Introductionmentioning

confidence: 99%

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Stabilizing the spatial position of a quadrotor by the backstepping procedure

Kucherov

Kozub²,

Sushchenko

et al. 2021

IJEECS

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<div>The paper considers the problem of synthesizing a control law that stabilizes the spatial position of an airborne object. The control object is a quadrotor with nonlinear dynamics. To solve the stabilization problem, a mathematical model of the quadrotor has been developed, taking into account its positionin the Cartesian and Euler coordinate systems. The new control law has been synthesized using the backstepping procedure. This control law is based on the Lyapunov-type stabilization criterion. New results analysis of the quadrotor dynamics, where has been showing the dependence of the control accuracy on the parameter of the stabilization criterion also presented. An algorithm for the directed search of the procedure parameter also has been proposed. It ensures the desired quality of the transient process. Simulation results confirming the results of the oretical research have been presented as well.</div>

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Section: System Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Stabilizing the spatial position of a quadrotor by the backstepping procedure

Kucherov

Kozub²,

Sushchenko

et al. 2021

IJEECS

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“…are discussed in literature. However, a recent study [Nasr et al(2018) Hussein, Salem, Elias, Shehata, and Morgan] showed that sliding mode control technique was the best when compared with other popular techniques for trajectory tracking. Also, from competition viewpoint, the following factors influenced controller's choice:…”

Section: Sliding Mode Controller For Point To Point Navigationmentioning

confidence: 99%

Model Based Control of Commercial-Off-TheShelf (COTS) Unmanned Rotorcraft for BrickWall Construction

Sridhar,

et al. 2021

Preprint

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This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the primary application, command velocities in the three axes of the Unmanned Aerial Vehicle (UAV) are considered as inputs of the system while its actual velocities are system outputs. Using the sine and step response data acquired from a Hardware-in-Loop (HiL) test simulator, the considered system was modelled in individual axes with the help of the proposed framework. This model was employed for controller design where a sliding mode controller was chosen to satisfy certain requirements of the application like robustness, flexibility and accuracy. The model was validated using step response data and produced a deviation of only 9%. Finally, the controller results from field test showed fine control up to ±8 cms accuracy. Sliding Mode Control (SMC) was also compared with a linear controller derived from iterative experimentations and seen to perform better than the latter in terms of accuracy, and robustness to parametric variations and wind disturbances.

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“…In [18] a compact tricopter configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode to the fixed wing mode and vice versa. For enabling an intelligent selection of control switch, a Fuzzy Logic Sliding Mode Controller is adopted for a Tiltrotor aircraft; an experimental verification of reliability for this controller is discussed in [19,20]. In section two we will give an overview on the design of our tri tilt-rotor, control strategies will be detailed in section four to controlling attitude and translational motion for our tilt-rotor using the mathematical representation discussed in section three.…”

Section: Introductionmentioning

confidence: 99%

PID vs LQR controller for tilt rotor airplane

Houari

Bachir

Mohamed

et al. 2020

IJECE

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The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation.

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A comparitive study on the control of UAVs for Trajectory tracking by MPC, SMC, Backstepping, and Fuzzy Logic controllers

Cited by 9 publications

References 3 publications

Stabilizing the spatial position of a quadrotor by the backstepping procedure

Stabilizing the spatial position of a quadrotor by the backstepping procedure

Model Based Control of Commercial-Off-TheShelf (COTS) Unmanned Rotorcraft for BrickWall Construction

PID vs LQR controller for tilt rotor airplane

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