Control Strategy for a Quadrotor Helicopter with State Delay via Improved Guaranteed Cost Control and Quantum Adaptive Control

Hu, Longze; Chen, Fuyang; Jiang, Bin; Tao, Gang

doi:10.1061/(asce)as.1943-5525.0000713

Cited by 10 publications

(7 citation statements)

References 29 publications

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“…Remark It should be pointed out that all existing GCAC results, for example, References 12‐17, focus only on guaranteeing system performance without considering the physical constraints of actuators. By contrast, the proposed GCAC method explicitly incorporates the control saturation problem to achieve guaranteed cost performance with limited control effort.…”

Section: Resultsmentioning

confidence: 99%

“…The aforementioned issue is referred to as the guaranteed cost control (GCC), which is well established in linear uncertain systems control 9‐11 and has several applications in the field of rigid‐body attitude control 12‐17 . Although this method is intended to provide an upper bound on the given cost function for uncertain systems, it has been well demonstrated in the literature 9‐17 that the optimal controller can be obtained to minimize the guaranteed cost index. It benefits from the fact that the conditions derived in GCC are expressed in terms of linear matrix inequalities (LMIs) and therefore eligible to turn into a convex optimization problem.…”

Section: Introductionmentioning

confidence: 99%

“…It benefits from the fact that the conditions derived in GCC are expressed in terms of linear matrix inequalities (LMIs) and therefore eligible to turn into a convex optimization problem. However, all results of guaranteed cost attitude control (GCAC) developed so far hinge on the precondition that an attitude system model must be linear or at least linearized 12‐17 . Indeed, rigid‐body attitude systems contain strong nonlinearities and hence such model linearization may lead to large modeling errors.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Guaranteed cost control of rigid‐body attitude systems under control saturation

Wang

Yang

Liang

et al. 2021

Intl J Robust & Nonlinear

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This article investigates the guaranteed cost control (GCC) problem of nonlinear rigid‐body attitude systems subject to control saturation. A novel methodology is proposed, by which the nonlinearities inherent in the attitude dynamics are effectively accounted for and thereby the existence of the proposed controller is cast into linear/bilinear matrix inequality conditions without resorting to model linearization techniques. As a result, the underlying closed‐loop attitude system can be asymptotically stabilized by limited control effort and the defined cost function has an upper bound, by which four optimal GCC methods are further formed to minimize the cost index. Simulation results are provided that fully highlight the properties of the developed methodology in terms of cost guaranteeing and control effort limiting.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Guaranteed cost control of rigid‐body attitude systems under control saturation

Wang

Yang

Liang

et al. 2021

Intl J Robust & Nonlinear

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“…A robust guaranteed cost controller was proposed for quadrotor UAV system with uncertainties to address set-point tracking problem [25]. In order to eliminate disturbance effects and guarantee the robust stability of a quadrotor helicopter with state delay, improved guaranteed cost control and quantum adaptive control were developed [26]. A neural network (NN) based approximate optimal GCC design was developed to find a robust state feedback controller such that the closed-loop system has not only a bounded response in a finite duration of time for all admissible uncertainties but also a minimal guaranteed cost [27].…”

Section: Complexitymentioning

confidence: 99%

A Novel SHLNN Based Robust Control and Tracking Method for Hypersonic Vehicle under Parameter Uncertainty

Li¹,

Wu²,

Yang³

et al. 2017

Complexity

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Hypersonic vehicle is a typical parameter uncertain system with significant characteristics of strong coupling, nonlinearity, and external disturbance. In this paper, a combined system modeling approach is proposed to approximate the actual vehicle system. The state feedback control strategy is adopted based on the robust guaranteed cost control (RGCC) theory, where the Lyapunov function is applied to get control law for nonlinear system and the problem is transformed into a feasible solution by linear matrix inequalities (LMI) method. In addition, a nonfragile guaranteed cost controller solved by LMI optimization approach is employed to the linear error system, where a single hidden layer neural network (SHLNN) is employed as an additive gain compensator to reduce excessive performance caused by perturbations and uncertainties. Simulation results show the stability and well tracking performance for the proposed strategy in controlling the vehicle system.

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“…For the controller design of helicopter system considering time varying delays only, many research works have been presented. Hu et al (2017) developed an improved guaranteed cost control approach for quadrotor to compensate state delay. Zhang et al (2019) presented a robust controller with a delay observer for UAV.…”

Section: Introductionmentioning

confidence: 99%

Robust attitude control of a 3-DOF helicopter prototype subject to wind disturbance and communication delay

Xu¹,

Peng

Liu

et al. 2021

Transactions of the Institute of Measurement and Control

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In this paper, a robust control strategy is developed for unmanned helicopter prototype to simultaneously deal with random wind disturbances and remote communication delays. First, in the helicopter system modeling, the wind gust is not only treated as bounded external load disturbance, but propeller force-thrust coefficient variation that is caused by wind disturbance is also considered. Then, by equivalently treating the remote communication delays as random input delays, a robust attitude controller with energy-to-energy performance is developed for the helicopter system. Lyapunov-Krasovskii functions are utilized to analyze the stability of the proposed robust attitude controller. The gains of controller are calculated by solving linear matrix inequalities. Finally, by selecting Quanser’s three degrees of freedom(3-DOF) helicopter prototype as the test bench, three groups of comparative tests are carried out respectively, in which electric fan is utilized to generate external wind gusts while random delays are added to the feedback loop. Compared with conventional H-infinity controller, the effectiveness as well as superiority of proposed control approach is well verified.

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Control Strategy for a Quadrotor Helicopter with State Delay via Improved Guaranteed Cost Control and Quantum Adaptive Control

Cited by 10 publications

References 29 publications

Guaranteed cost control of rigid‐body attitude systems under control saturation

Guaranteed cost control of rigid‐body attitude systems under control saturation

A Novel SHLNN Based Robust Control and Tracking Method for Hypersonic Vehicle under Parameter Uncertainty

Robust attitude control of a 3-DOF helicopter prototype subject to wind disturbance and communication delay

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