Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking

Bouadi, Hakim; Cunha, Sebastião Simões da; Drouin, Antoine; Mora‐Camino, Félix

doi:10.1109/cinti.2011.6108547

Cited by 113 publications

(45 citation statements)

References 10 publications

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“…Yapılan çalışma incelendiğinde Quadrotor'un sapma, yunuslama ve yalpalama açılarının istenilen denge noktasında kararlı bir şekilde tutulması amaçlandığı görülmüştür. Bouadi ve arkadaşları, Quadrotor için adaptif kayan kipli kontrolcüyle duruş stabilizasyonu ve rota takibi yapmayı amaçlamıştır (Bouadi et al, 2011). Sistemde meydana gelen anlık hataları çevrimiçi olarak aldıkları sinyaller yardımıyla parametre tahmini yaparak hataları elimine etmişlerdir.…”

Section: Introductionunclassified

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

Can¹,

Başçı²

2016

jist

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ÖZET: Bu çalışmada, sistemin lineer olmayan yapısına bağlı olarak tasarlanan geri adımlamalı kontrol yöntemi ile dört rotorlu bir İnsansız Hava Aracı (İHA) olan Quadrotor'un gerçek zamanlı yörünge takibi gerçekleştirilmiştir. Deneysel çalışmada kullanılan Quadrotor, donanımsal olarak (GPS, sonar, kamera, atalet sensörleri vb.) oldukça düşük maliyetlidir. Tasarlanan geri adımlamalı kontrolcü, donanımsal açıdan zayıf bir sistem üzerinde yüksek verimle çalışmış ve gelecekte tasarlanacak donanımsal açıdan yüksek hassasiyette ölçüm yapabilen sistemler için iyi bir kontrolcü referansı olmuştur. Quadrotor'un kapalı ortamda eğik çember ve zigzag formunda iki ayrı yörüngeyi takibi ile elde edilen sonuçlar incelendiğinde, kontrolcünün meydana gelen hataları istenilen düzeyde elimine ettiği ve sistemdeki sapmaları minimumda tuttuğu görülmüştür.Anahtar sözcükler: Geri adımlamalı kontrol, İHA, quadrotor, yörünge takibi. ABSTRACT:In this study, real-time trajectory tracking control of a four rotor UAV, called Quadrotor, is realized by using backstepping controller which is designed depending on the nonlinearity of the system. Quadrotor used in experiment is a low-cost system and is equipped with GPS, sonar, camera and inertial sensors. Since the designed backstepping controller is worked in a high efficiency on Quadrotor, the controller will be a good reference for the systems, have highly sensitive sensors to do more accurate measurements. When analyzing the indoor experiment results of Quadrotor for tracking oblique circle and zigzag routes, errors are eliminated in desired level and deviations are minimized by backstepping controller for a stable flight.

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Section: Introductionunclassified

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

Can¹,

Başçı²

2016

jist

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“…To the authors' best knowledge, the controllability of quadrotors' altitude and orientation dynamics has been studied considering simplified models, which assume that the vehicle's pitch and roll angles are small at all times [5,33]. Moreover, existing results on the controllability of quadrotors neglect the fact that, as discussed in Remark 5.1, these vehicles are time-varying dynamical systems and rely on sufficient conditions for the controllability of time-invariant dynamical systems [30,34].…”

Section: Strong Accessibility Of Quadrotorsmentioning

confidence: 99%

“…In recent years, numerous authors, such as Bouadi et al [5]; Dydek et al [6]; Jafarnejadsani et al [7]; Loukianov [8]; Mohammadi & Shahri [9]; Zheng et al [10], to name a few, employed nonlinear robust control techniques, such as sliding mode control, model reference adaptive control (MRAC), adaptive sliding mode control, and L 1 adaptive control, to design autopilots for quadrotors that are able to account for inaccurate modeling assumptions and compensate failures in the propulsion system. These autopilots are generally designed assuming perfect knowledge of the location of the quadrotor's center of mass, supposing that the vehicle's Euler angles are small at all times, and neglecting the inertial counter-torque.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Output Tracking for Quadrotor Helicopters

Mohammadi¹,

L’Afflitto²

2018

Adaptive Robust Control Systems

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Quadrotor helicopters are drawing considerable attention both for their mobility and their potential to perform multiple tasks in complete autonomy. Moreover, the numerous limitations characterizing these aircraft, such as their underactuation, make quadrotors ideal testbeds for innovative theoretical approaches to the problem of controlling autonomous mechanical systems. In this chapter, we propose a robust model reference adaptive control architecture and design an autopilot for quadrotors, which guarantees satisfactory output tracking despite uncertainties in the vehicle's mass, matrix of inertia, and location of the center of mass. The feasibility of our results is supported by a detailed analysis of the quadrotor's equations of motion. Specifically, considering the vehicle's equations of motion as a time-varying nonlinear dynamical system and avoiding the common assumption that the vehicle's Euler angles are small at all times, we prove that the proposed autopilot guarantees satisfactory output tracking and verifies sufficient conditions for a weak form of controllability of the closed-loop system known as strong accessibility. A numerical example illustrates the applicability of the theoretical results presented and clearly shows how the proposed autopilot outperforms in strong wind conditions autopilots designed using a commonly employed proportional-derivative control law and a conventional model reference adaptive control law.

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“…This control is responsible for ensuring that the angles of roll, pitch and yaw on quadrotor have a minimum value by controlling the four motors rotates at the same speed, so that it can hover stably. The previous researchers have used a variety of algorithms to control attitude such as the PID algorithm used by Lee et al [19], the Sliding Mode Control algorithm used by Bouadi et al [22], and the backstepping algorithm used by Colorado et al [23]. In the previous studies, the researchers have used a six inputs and three outputs to design a control block for attitude in quadrotor as in Figure 3(B).…”

Section: Attitude Controlmentioning

confidence: 99%

Hovering Control of Quadrotor Based on Fuzzy Logic

Raharja¹,

Firmansyah²,

Cahyadi³

et al. 2017

IJPEDS

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Quadrotor is one of rotary wing UAV types which is able to perform a hover position. In order to take off, landing, and hover, it needs controllers. Conventional controllers have been widely applied in quadrotor, yet they have drawbacks namely overshoot. This paper presents attitude and altitude control algorithm in order to obtain a response as quadrotor hovered optimally within minimum overshoot, rise time, and settling time. The algorithm used is Fuzzy Logic Controller (FLC) algorithm with Mamdani method. By using the algorithm, the quadrotor is able to hover with minimum overshoot and maximum rise time. The advantage of the algorithm is that it does not require linearization model of the quadrotor. Keyword:Altitude control Attitude control Fuzzy logic controller Mamdani Quadrotor Copyright © 2017 Institute of Advanced Engineering and Science.All rights reserved. Corresponding Author:Nia Maharani Raharja, Department of Electrical Engineering and Information Technology, Universitas Gadjah Mada, Yogyakarta, Indonesia. Email: nia.sie13@mail.ugm.ac.id INTRODUCTIONQuadrotor is basically unstable because it is a non-linear model that has many variables with 6 degrees of freedom affected by four actuators. Previous researchers created quadrotor models in dynamics and kinematics represented in two models, namely nonlinear and linear. Quadrotor modeling needs some consideration, namely solid frames, rotor placement on each angle having symmetrical distance, and the position of the center of gravity (COG) is right at the midpoint of the crossing frame arm. Euler-Lagrange and Newton-Euler methods are generally used in aircraft modeling, however, Newton-Euler is more widely used because it is more easily understood.Researches on quadrotor have been widely conducted by previous researchers in the field of control by using conventional traditional controls as practiced by Bouabdallah et al [1] using the configuration Plus for microquadrotor OS4 model weighing 240 grams controlled by PID and LQR control methods by referring to six states of roll, pitch, and yaw based attitude. In designing PID control of non-linear model of quadrotor obtained from the dynamics and kinematics, it is firstly linearized to obtain a state variable in that the stability can be identified.Quadrotor modeling has been successfully developed by Bouabdallah & Siegwart [2] by modeling quadrotor from 6 to 12 states. In addition they modify backstepping algorithm by adding integral then called integral-backstepping. The algorithm is used to control the attitude and altitude, so that it can take off and landing autonomously. The algorithm is also used to control the position of the quadrotor in order to perform fly autonomously and avoid obstacles. With the algorithm, there is no overshoot when it hovers at the desired height but it takes a long raise time.One of the criteria for good performance in the control of hover is a quick or minimum response. However, the rapid response tends to cause oscillation and requires a fairly large control signaling. I...

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Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking

Cited by 113 publications

References 10 publications

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

Robust Adaptive Output Tracking for Quadrotor Helicopters

Hovering Control of Quadrotor Based on Fuzzy Logic

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