Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints

Zhao, Ziqian; Zheng, Zewei; Zhu, Ming; Wu, Zhe

doi:10.1109/icca.2017.8003033

Cited by 5 publications

(8 citation statements)

References 19 publications

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“…the system exponentially tracks the reference model with the control signal dened in (21), which will never violate the saturation limits provided that the right hand side of (25) is positive.…”

Section: Prediction Error Boundsmentioning

confidence: 99%

“…Other approaches use neural networks based control [4,8,10,15], adaptive model predictive control [2], reference governors [12], adaptive anti-windup technique [5], adaptive backstepping control [19,21,22], convex optimization of the quadratic retrospective cost function [20], just to mention few of them. In these approaches designed controllers achieve bounded tracking in the presence of parametric uncertainties and external disturbances under specic assumptions.…”

Section: Introductionmentioning

confidence: 99%

“…In [22] and [21], an auxiliary system combined with a command lter is designed to deal with the input saturation eect and achieve bounded tracking.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Stepanyan

Krishnakumar

2019

AIAA Scitech 2019 Forum

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The paper presents a modied model reference adaptive control (M-MRAC) for multiinput multi-output nonlinear dynamical systems with time varying parametric uncertainties and bounded external disturbances. It uses a prediction model to rapidly generate adaptive estimates of the system's uncertainties with adjustable errors that converge to a small neighborhood of the origin. A sucient condition is derived to specify the region of attraction in the space of initialization errors, design parameters and external commends. The approach is applied to thrust controlled multi-rotor air vehicles operating in an urban environment. It is shown that the designed controller can provide a good tracking of a given trajectory in the unknown urban wind eld, assuming that the maximum thrust generated by the rotors is known. The performance

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Section: Prediction Error Boundsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Stepanyan

Krishnakumar

2019

AIAA Scitech 2019 Forum

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“…In order to ensure that the controller output did not exceed the limit, an output threshold was set during the learning process. Zhao et al [18] utilized the backstepping method to design an adaptive fault-tolerant control, and an auxiliary system was employed to deal with actuator saturation. Li et al [19] designed an adaptive controller commonly used in robot control for a quadrotor, and the auxiliary variable method was used to deal with the problem of input saturation.…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Trajectory-Tracking Control with Actuator Saturation

2023

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As a very serious problem for control systems, actuator saturation often leads to an unstable system. The maneuvering flight of quadrotors may lead to actuator saturation, which commonly affects the flight quality, including trajectory-tracking accuracy. Quadrotors usually adopt double-closed-loop control, of which the outer loop is the position control used to calculate the desired attitude angle and the inner loop is the attitude control used to generate control actions for the vehicle. To address actuator saturation during the maneuvering flight of quadrotors, an attitude controller based on the conditioned super-twisting algorithm (CSTA) was designed. The sign functions in CSTA were replaced by a hyperbolic tangent function, which suppresses the chattering of CSTA. In order to improve the rapidity of the improved controller, the tanh-CSTA (TCSTA), a gain adjustment factor was utilized. The rapidity and smoothness of the controller can be satisfied by adjusting the gain factor. Additionally, a sliding surface was designed according to the characteristics of the quadrotor control structure, so that the TCSTA controller can be applied to the second-order system. The performances of the designed improved controller were simulated using MATLAB, and the results showed that the designed controller is more robust than the PID controller. Moreover, compared with the CSTA controller, the chattering of the designed controller was obviously suppressed without reducing the control accuracy.

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“…A suboptimal integral sliding mode controller (ISMC) is designed where the state dependent Riccati equation can be used for online feedback of the input saturation [26]. Further, a backstepping based adaptive fault tolerant control method [27] is proposed, where the input saturation can be dealt with a command filter and simulation experiments confirm that the actuator faults are bounded. In [28], a body-rate controller with motor saturation is presented for UAV stable trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

UAV adaptive trajectory tracking control under unknown time-varying disturbance and input saturation

Zhou¹,

Tian²

2021

Preprint

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In this paper, the flight control of the Unmanned aerial vehicle (UAV) is discussed with the proposed adaptive dynamic surface control method owing to its underactuated and non-linear characteristics. The proposed control algorithm is based on radial basis function (RBF) neural network and anti-saturation auxiliary system to realize high-precision trajectory tracking under time-varying disturbances and input saturation. First, the nonlinear dynamic model of the UAV with disturbances is established with the aid of rigid body motion theory. With the adoption of the dynamic surface control algorithm, the error surface and the Lyapunov function are defined to design the preliminary control law of the designed controller. Then the RBF neural network is introduced to estimate and compensate the disturbance. Further, an anti - saturation module is designed to tackle the problem of input saturation. By using the Lyapunov stability theory, it is proved that the stability and signal consistency of the closed-loop system are bounded, along with the constrained conditions of the control parameters. Simulation experiments have been performed and the results demonstrate that the proposed control algorithm has high-precision trajectory tracking ability and strong anti-disturbance capability under the input saturation constraint with high control performance.

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Adaptive fault tolerant attitude tracking control for a quadrotor with input saturation and full-state constraints

Cited by 5 publications

References 19 publications

Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Quadrotor Trajectory-Tracking Control with Actuator Saturation

UAV adaptive trajectory tracking control under unknown time-varying disturbance and input saturation

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