Adaptive fractional order sliding mode control for a quadrotor with a varying load

Vahdanipour, Mohsen; Khodabandeh, Mahdi

doi:10.1016/j.ast.2019.01.053

Cited by 125 publications

(66 citation statements)

References 21 publications

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“…Only a few literatures studied flight control of the quad-rotors using rigid-connection and mainly focused on the unknown masses of the payloads. In [33], an adaptive fractional order sliding mode control approach with mass estimation mechanism was proposed for the quad-rotor transporting time-varying payload. Wang et al [34] developed an integral sliding mode based adaptive robust control algorithm to control a quad-rotor helicopter transporting payload with unknown mass.…”

Section: Introductionmentioning

confidence: 99%

“…When the payload is empty, attitude dynamic system of the quad-rotor is originally highly nonlinear. The pitch, roll, and yaw torques can approximately be decoupled because of the nearly symmetric frame structure (mathematically the inertia matrix is diagonal) [10], [33], [43], [45], [46], [48], [51]. However, when the unknown payload is loaded using rigid connection, symmetry of the quad-rotor is broken such that the inertia matrix becomes non-diagonal, which in turn results in couplings among the pitch, roll, and yaw torques.…”

Section: Introductionmentioning

confidence: 99%

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Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation. INDEX TERMS Quad-rotor, payload transportation, disturbance attenuation, predictive optimal control.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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“…However, the drawback of such mechanisms is that they are complicated to implement in realistic conditions. In order to reduce the swing, effective feedback control schemes use measurement and estimation of the suspended-load oscillations in closed-loop systems [8][9][10][11][12][13][14][15][16][17][18]. Unfortunately, accurately sensing the suspended-load is difficult, and the feedback controller may conflict with actions of the operator.…”

Section: Introductionmentioning

confidence: 99%

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

Zhu

Huang

Zhang

2020

Preprint

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Quadcopters can serve as aerial cranes that are able to suspend large-size loads below the fuselage for material-handling services. Double-hoist mechanisms help quadcopter to transport bulky loads effectively. However, double-hoist mechanisms exhibit strong coupling effect among the quadcopter’s attitude, load swing, and load twisting. Different from the single-hoist mechanisms, no effects have been directed at quadcopter slung loads with double-hoist mechanisms. A novel nonlinear dynamics model of a quadcopter carrying a distributed-mass load by double-hoist mechanisms is given in this paper. This explicit model captures the coupling between the quadcopter and load motion. Then a novel control method is proposed to reduce the swing and twisting of the load simultaneously. The simulation results illustrate that the control method succeeds in limiting the unwanted oscillations of quadcopter attitudes, load swing and twisting.

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“…The adaptive fractional-order combined with sliding mode control and super twisting sliding mode control was implemented in motor speed control for increasing speed tracking precision and robustness to process uncertainties [21]- [22]. The adaptive fractional-order sliding mode control was applied to the application of trajectory tracking of quadrotor for reducing the effect of wind disturbance and load variations [23]. Adaptive fractional fuzzy sliding mode control was explained to address the strategy of permanent magnet synchronous motor motion control [24]- [25].…”

Section: Introductionmentioning

confidence: 99%

Efficient Fractional Order Reference Model of Adaptive Controller Design for Multi-input Multi-output Thermal System

Chaoraingern

Tipsuwanporn

Numsomran

2020

Int. J. Adv. Sci. Eng. Inf. Technol.

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The diverse control techniques have been combined with fractional calculus to enhance the control system performance. This paper presents an efficient fractional-order model reference adaptive controller (FOMRAC) design, which aims to demonstrate the solution for temperature reference tracking and cross-coupling rejection in the multi-input multi-output thermal system as well as cognizing of power consumption saving constraints. The mathematical modeling, nonlinear dynamic characteristic details, and system identification of the thermal system are described while the fractional-order controller combined with a model reference adaptive control (FOMRAC) based on MIT rule is developed so that to create the nonlinear adaptive mechanism which enables the excellent performance to control the multi-input multi-output thermal system. Likewise, a decoupling compensator is constructed to remunerate the effect of the cross-coupling interaction. The validation of the proposed control scheme is performed through the Matlab simulation and the experiment on the multi-input multi-output thermal system. The results illustrated the FOMRAC technique in which the controller's adjustable parameters can provide efficiency stability and performance to minimize the settling time and percent overshoot of the control system response. Besides, the analysis of the power consumption in the control system is addressed to reinforce the useful ability of the proposed method compared with the integral-order model reference adaptive controller (IOMRAC) and the traditional PID controller. The results revealed that the proposed FOMRAC technique exhibited much better than other methods because of the effective optimization of adaptive gain mechanism and fractional-order operators.

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Adaptive fractional order sliding mode control for a quadrotor with a varying load

Cited by 125 publications

References 21 publications

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

Double-Hoist Dynamics and Oscillation Control of a Quadcopter Carrying a Swinging and Twisting Load

Efficient Fractional Order Reference Model of Adaptive Controller Design for Multi-input Multi-output Thermal System

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