Attitude and Altitude Tracking Controller for Quadcopter Dynamical Systems

Esmail, Manal S.; Merzban, Mohamed H.; Khalaf, Ashraf A. M.; Hamed, Hesham F. A.; Hussein, Aziza I.

doi:10.1109/access.2022.3173739

Cited by 4 publications

(3 citation statements)

References 44 publications

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“…Quadcopters are among the most commonly used UAVs due to their flexibility in performing various duties, including search and rescue operations, military missions, and agricultural procedures. Furthermore, the quadcopters' ability to take off and land vertically, hover in place, exhibit exceptional mobility, and demonstrate agility renders them adaptable for various duties [1], [2], [3], [4]. The quadcopter has gained significant popularity as a subject of study in control systems.…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Tracking: A Comparative Study of Autonomous Quadcopter Controllers

2024

jjmie

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The quadcopter controller plays a significant role in autonomous vehicle trajectory tracking and has been extensively examined in the literature because it is a highly nonlinear and under-actuated system. This article contributes by methodically comparing PID, BSC, IBSC, SMC, and ISMC control algorithms under standardized conditions. The study involves implementing these algorithms and optimizing their parameters using a hybrid Flower Pollination Algorithm -Genetic Algorithm (FPA-GA). Robust testing scenarios, including mass uncertainty and time-varying disturbances, are employed to assess algorithmic performance. The research centers on trajectory tracking-control approaches for highly maneuverable Unmanned Aerial Vehicles (UAVs) equipped with four heave thrusters, emphasizing controller stability through Lyapunov functions. Theoretical exploration precedes comprehensive numerical simulations, enabling a detailed comparison of the efficacy and resilience of the proposed approaches. Results from exhaustive testing reveal the consistent superiority of the BSC controller, demonstrating notably low Integral of Time-weighted Squared Error (ITSE) values of 0.1253 and 0.5262 from two simulation tests. These findings underscore the practical advantages of the BSC controller in highly dynamic UAV trajectory tracking scenarios.

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Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Tracking: A Comparative Study of Autonomous Quadcopter Controllers

2024

jjmie

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“…Quaternion is a singularity-free attitude description that can replace Euler angles. [24][25][26][27][28] In this work, the quadrotor system equation of motion is formulated based on the quaternion and the finite-time 𝜃-D method is employed to design the flight controller for both translational and attitude motion regulations. The proposed control law reduces the computational time significantly, which is reported in the simulation section.…”

Section: Introductionmentioning

confidence: 99%

“…Although the Euler angles provide a clear description of attitude of aerial systems, they suffer from the singularity problem when Euler angles pass

\pi /2\left(\mathrm{rad}\right)

in large angular maneuvers. Quaternion is a singularity‐free attitude description that can replace Euler angles 24‐28 . In this work, the quadrotor system equation of motion is formulated based on the quaternion and the finite‐time

\theta

‐

D

method is employed to design the flight controller for both translational and attitude motion regulations.…”

Section: Introductionmentioning

confidence: 99%

Approximate optimal control design for quadrotors: A computationally fast solution

Yao,

Rafee Nekoo,

Xin

2023

Optim Control Appl Methods

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SummaryAn approximate closed‐form optimal control design is proposed for the flight control of quadrotor unmanned aerial vehicles. The nonlinear dynamic equation is rewritten as a pseudo‐linear form without approximations. The quadratic cost function is modified by adding perturbation terms to the state weighting matrix. A co‐state, which is associated with the solution to the partial differential Hamilton–Jacobi–Bellman (HJB) equation, is approximated by a power series of an instrumental variable with symmetric matrices as the coefficients. The solution to the intractable HJB equation can be reduced to solving these coefficient matrices, which are in forms of a differential Riccati equation and a series of linear Lyapunov equations, These equations can be solved recursively and analytically. Specifically, the differential Riccati equation can be solved offline and only once, and the linear Lyapunov equations can be solved analytically. These approximations lead to a closed‐form suboptimal state feedback control law, which is computationally more efficient than the similar finite‐time state‐dependent Riccati equation (SDRE) technique that requires the solution of the state‐dependent differential Riccati equation at each time step and demands a high computational cost. The proposed control law is applied to the flight control design of quadrotors. Numerical simulations validate the effectiveness of the proposed optimal control technique with superior performance of control accuracy and robustness. It is compared favorably with the finite‐time SDRE technique in terms of computation efficiency and control effort, especially when onboard implementations and experiments are needed.

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Dynamic Sliding Mode Control With PID Surface for Trajectory Tracking of a Multirotor Aircraft

Ventura,

Morales,

Oliver

et al. 2023

IEEE Access

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Attitude and Altitude Tracking Controller for Quadcopter Dynamical Systems

Cited by 4 publications

References 44 publications

Optimal Trajectory Tracking: A Comparative Study of Autonomous Quadcopter Controllers

Optimal Trajectory Tracking: A Comparative Study of Autonomous Quadcopter Controllers

Approximate optimal control design for quadrotors: A computationally fast solution

Dynamic Sliding Mode Control With PID Surface for Trajectory Tracking of a Multirotor Aircraft

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