A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems

Baek, Jaemin; Jung, Jin‐Myung

doi:10.3390/electronics9101586

Cited by 7 publications

(6 citation statements)

References 27 publications

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“…The relation between the terminal force and the terminal position and orientation is described in (19) or (20). Hence, the control law (23) can be transformed to a linear control law, as described below:…”

Section: Selection Of Weighting Coefficients and Stability Analysismentioning

confidence: 99%

“…This condition leads to tedious calculation and poor real-time performance in practical applications. To solve the above control problem caused by dynamic model, many experts and scholars have conducted extensive research on the model-free control algorithm [23][24][25][26]. This algorithm only needs input and output information and does not depend on the system dynamic model; its characteristics are simple calculation, strong adaptability, and wide application range [23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

“…To solve the above control problem caused by dynamic model, many experts and scholars have conducted extensive research on the model-free control algorithm [23][24][25][26]. This algorithm only needs input and output information and does not depend on the system dynamic model; its characteristics are simple calculation, strong adaptability, and wide application range [23][24][25][26]. Relevant information required for control is obtained via online identification and estimation of the dynamic model.…”

Section: Introductionmentioning

confidence: 99%

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Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

2022

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Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.

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Section: Selection Of Weighting Coefficients and Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

2022

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“…Owing to their simple structure, easy maintenance and high sensitivity, quadrotors are indispensable aircraft in various fields including monitoring, disaster rescue, power inspection and express transportation [1][2][3][4]. However, quadrotor attitude dynamics are characterized by nonlinearity and multiple-input and multiple-output, and the operation of quadrotors is sensitive to lumped disturbances, i.e., parametric uncertainties and external environmental perturbation.…”

Section: Introductionmentioning

confidence: 99%

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

Zhen

Zhang

2022

Electronics

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In the article, an unknown system dynamics estimator-based anti-disturbance attitude funnel control technique is considered for quadrotors to ensure tracking performance when experiencing parametric uncertainties and external perturbations. To reinforce the anti-disturbance ability, an unknown system dynamics estimator was established by constructing the filtering operation-based invariant manifold, resulting in a more concise design framework, lower computational consumption and an asymptotic error convergence. Additionally, a funnel control policy was employed to regulate angle-tracking errors within a minor overshoot, a faster convergence time and a lower steady-state error by devising the funnel variables, where an exponential decaying function was used to construct the funnel boundary. The great improvements beyond the available quadrotor control policies are related to satisfied disturbance mitigation and performance guarantees as a priority despite uncertainties. The error arguments comprising of angle and angular rate for quadrotors were ultimately uniformly bounded and the angles controlling the deviations were restricted to the funnel boundary. Finally, the simulations and experiments verified the superiority of the proposed control technique in terms of reduced control actions and higher precision, as well as shorter settling time.

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“…Moreover, the TDE method provides a simple and compact form in the TDC scheme while canceling out system uncertainties, nonlinearities, and unknown disturbances. From these benefits, the TDC scheme has been applied in many applications, including robot manipulators [13], [14], unmanned aerial vehicles [15], [16], electric power steering systems [17], and missiles [18]. However, the TDE method causes a critical problem called TDE errors because it makes a sense out of one-sample delayed information.…”

Section: Introductionmentioning

confidence: 99%

A Practical Adaptive Sliding-Mode Control for Extended Trajectory-Tracking of Articulated Robot Manipulators

Baek

Kang

2022

IEEE Access

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This paper presents a practical adaptive sliding-mode control (PASMC) scheme and then applies it to an articulated robot manipulator. An adaptive law is newly-developed in the adaptive slidingmode control scheme, which is designed to be based on the magnitude of the time-varying switching gains, the sliding variables, and their derivatives. It aims to provide fast and stable adaptation rate without the undesirable side effects while in operation. Besides, since it is only in need of one gain parameter, the proposed control algorithm offers outstanding advantage in producing convenience of use to practicing engineers while reducing the time-consuming tasks, including the tuning process of parameters. Next, the proposed PASMC scheme produces two-type pole-placement approach that can attain the tunable dominant poles depending on whether the sliding variables remain in the vicinity of the sliding manifold. It helps to improve the convergence rate without over-estimated switching gains near the equilibrium point. Finally, the proposed one uses one-sample delayed information to cancel out system uncertainties and nonlinearities so that it may provide simple and compact control structure. From these benefits, the proposed control scheme offers synergistic effects, including effectiveness and practicality. The system stability is proved to be uniformly ultimately bounded by Lyapunov stability. The performance of the proposed control scheme is illustrated through experiments on a real robot manipulator, which is compared with that of the existing control schemes.INDEX TERMS Adaptive controls, sliding-mode controls, time-delayed estimation, pole-placement, robot manipulators.

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A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems

Cited by 7 publications

References 27 publications

Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

A Practical Adaptive Sliding-Mode Control for Extended Trajectory-Tracking of Articulated Robot Manipulators

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