Adaptive Backstepping Control of a Quadcopter With Uncertain Vehicle Mass, Moment of Inertia, and Disturbances

Xie, Wei; Cabecinhas, David; Cunha, Rita; Silvestre, Carlos

doi:10.1109/tie.2021.3055181

Cited by 62 publications

(28 citation statements)

References 41 publications

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“…Theorem 2: For a quadrotor attitude system (3) with adaptive parameter estimation law (5), USDE ( 16), attitude controller ( 25) and angular controller (29), where the adaptation function is designed as σ = ϕe . Then, all error signals involved in the closed-loop control framework can achieve UUB results.…”

Section: Stability Analysismentioning

confidence: 99%

“…For instance, an adaptive command filtered backstepping [27] is proposed to stabilize the quadrotor systems. Similar approach can also be found in [29], where the problem of path following for quadrotors with unknown vehicle parameters, i.e., mass and moment of inertia and external disturbances is interviewed. Nevertheless, most of adaptive control schemes are integrated with robust mechanisms, such as robust integral sign error [30] to reinforce robustness and retain an asymptotic tracking, where a high gain in feedback loop is inevitably involved to attenuate the effect of disturbances within a small vicinity, leading to a great deal of energy consumption and control actions with severe chattering, which is unacceptable in implementations.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Zhang

Jing

2022

IEEE Access

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This paper presents an adaptive control scheme via combining with an unknown system dynamics estimator (USDE) for attitude control of quadrotors subject to both parametric uncertainties and external disturbances. The presented controller is designed by effectively merging an adaptive control with an USDE via backstepping, where the extraneous uncertainties are addressed by USDE, and the adaptive law driven by tracking errors accounts for identifying unknown inertial moment constants. The unique characteristic is that a reinforced attitude controlling can be realized benefiting from the separate handling of parametric uncertainties and disturbances via an adaptive updating and a concise disturbance observation, significantly releasing the learning load of USDE and a high gain can be avoided in feedback loops. Meanwhile, Lyapunov analysis demonstrates that all error variables are uniformly ultimately bounded in the closed-loop system. Eventually, simulations substantiate the utility of suggested control strategy.

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Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Zhang

Jing

2022

IEEE Access

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“…In the past decades, the application of adaptive backstepping technique in a class of nonlinear systems control has been an active research topic, which has aroused the interest of many scholars [1,2]. The so-called adaptive control is aimed at the low-dimensional subsystem of the whole system, so as to grasp the dynamic characteristics and system errors of the controlled object in real time.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Dynamic Surface Control for a Class of Time Delay Nonlinear Systems with Extreme Learning Machine

jingyang

Liu

2022

Preprint

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This paper is aimed at investigating the problem of adaptive track- ing control for a class of strict-feedback nonlinear systems with unknown ex- ternal disturbance and time delay. First of all, the original system state equa- tion is transformed into a new form of state equation by coordinate trans- formation. In the next part, extreme learning machine is applied to approx- imate the unknown functions which exist in the whole system states. Based on this, adaptive dynamic surface controller is invented to cope with the dif- ferential explosion problem. In addition, the combination of the control law and the compensation signal of the filter improves the accuracy performance. Lyapunov-Krasovskii functional is introduced to handle the influence of time delay successfully. Subsequently, all signals of the whole closed-loop system can be ultimately uniformly bounded through a series of proofs. In the end, simulation examples are presented to verify the feasibility and effectiveness of the proposed algorithm.

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“…In addition, wind disturbance has a significant impact on the movement of small UAVs in the real world, particularly when the modeling is inaccurate. To circumvent this issue, the mainstream techniques typically include neural networks estimators [ 35 , 36 , 37 ], nonlinear observers [ 38 , 39 ] and adaptive estimators [ 40 , 41 ], etc. On the basis of the aforementioned factors, we neutralize the effect of disturbances, uncertainties and time-varying communication delays and achieve precise control of time-varying formations.…”

Section: Introductionmentioning

confidence: 99%

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

Zhao

Zhu

Zhang

2022

Sensors

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This paper investigates the problem of formation fault-tolerant control of multiple quadrotors (QRs) for a mobile sensing oriented application. The QRs subject to faults, input saturation and time-varying delays can be controlled to perform a target-enclosing and covering task while guaranteeing the state constraints will not be exceeded. A distributed formation control scheme is proposed, using a radial basis function neural network (RBFNN)-based time-delay position controller and an adaptive fault-tolerant attitude controller. The Lyapunov–Krasovskii approach is used to analyze the time-varying delay. Barrier Lyapunov function is deployed to handle the prescribed constraints, and an auxiliary system combined with a command filter is designed to resolve the saturation problem. An RBFNN and adaptive estimators are deployed to provide estimates of disturbances, fault signals and uncertainties. It is proven that all the closed-loop signals are bounded under the proposed protocol, while the prescribed constraints will not be violated, which enhances the flight safety and QR formation’s applicability. Comparative simulations based on application scenarios further verify the effectiveness of the proposed method.

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Adaptive Backstepping Control of a Quadcopter With Uncertain Vehicle Mass, Moment of Inertia, and Disturbances

Cited by 62 publications

References 41 publications

Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Adaptive Control With Unknown System Dynamics Estimator for Quadrotor Attitude Tracking

Adaptive Dynamic Surface Control for a Class of Time Delay Nonlinear Systems with Extreme Learning Machine

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

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