Control of Unmanned Aerial Vehicles with Non-Minimum Phase Dynamics Using Parallel Differential Compensation

Pukacz, Agnieszka; Kabziński, Jacek

doi:10.1109/mmar55195.2022.9874294

Cited by 1 publication

(7 citation statements)

References 14 publications

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“…The paper is structured as follows: In Section 3, we present the model of the system and describe its various representations (i.e., modelling for control) for synthesizing controllers. In Section 4, we describe the control design setup, and briefly introduce the PFCD approach from [22] which is used for comparisons with the proposed scheme. Section 5 presents the proposed Internal Model Control (IMC) design.…”

Section: Structure Of the Papermentioning

confidence: 99%

“…Here, the generic 2-DoF feedback (with reference feedforward) control setup is presented and forms the basis for the proposed UAV-targeted (pitch) control design. Note that the proposed control approach is compared with a recently proposed PFCD design for the same UAV example by [22]. The PFCD setup of [22] is briefly discussed, as it is used only for comparison purposes.…”

Section: The Feedback Control Setupmentioning

confidence: 99%

“…Note that the proposed control approach is compared with a recently proposed PFCD design for the same UAV example by [22]. The PFCD setup of [22] is briefly discussed, as it is used only for comparison purposes.…”

Section: The Feedback Control Setupmentioning

confidence: 99%

Section: Parallel Feedback Control Design (Pfcd) For Comparisonmentioning

confidence: 99%

“…PFCD was originally discussed in [28], and a PFCD-based design for this specific UAV system model was presented in [22]. We compare the results of the proposed IMC-based design with the design outcome from [22]. The authors designed the following feedback control elements: G yu (s) = −106.2s+677 s 2 +13.69s+416.7 ; C apf (s) = e −0.0632s (links to the plant rather than the controller); sgn() = +1.…”

Section: Parallel Feedback Control Design (Pfcd) For Comparisonmentioning

confidence: 99%

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Simple Internal Model-Based Robust Control Design for a Non-Minimum Phase Unmanned Aerial Vehicle

Zolotas

2023

Machines

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Robust control has been successful in enabling flight stability and performance for UAVs. This paper presents a simple explainable robust control design for UAV platforms with non-minimum phase (NMP) zero characteristics in their model. The paper contributes to economic (simple) robust control design by addressing the NMP model’s characteristics via Internal Model Control (IMC) and its impact on the UAV pitch response performance. The proposed design is compared with a Parallel Feedback Control Design (PFCD) scheme for the same vehicle platform, for fair comparison. Simulation results illustrate the achievement of the proposed control designs for the UAV platform; only the pitch control is addressed. A by-product of this work is the interpretation of different ways of manipulating the non-minimum phase plant model, so-called ‘modelling for control’, to enable the simple controller design. The work in this paper underpins the simplicity and robustness of the IMC technique for the NMP UAV platform, which further supports the explainability of the control structure relative to performance.

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Section: Structure Of the Papermentioning

confidence: 99%

Section: The Feedback Control Setupmentioning

confidence: 99%