Finite time position and heading tracking control of coaxial octorotor based on extended inverse multi-quadratic radial basis function network and external disturbance observer

Amin, Rooh Ul; Inayat, Irum; Li, Jun

doi:10.1016/j.jfranklin.2019.03.003

Cited by 22 publications

(8 citation statements)

References 29 publications

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“…In tracking control of UGVs, the platforms are always subject to different internal and external disturbances. For this purpose, a robust model predictive control is proposed 121 to suppress the effects of uncertainties in [37], a disturbance 122 observers (DO) are used to estimate the external disturbances 123 and uncertainties [38,39]. A robust tracking scheme DO that 124 handles slip-skid is presented in [40].…”

Section: A Related Workmentioning

confidence: 99%

Design and implementation of proximal planning and control of an unmanned ground vehicle in the dynamic environment

Khan¹,

Guivant²

2022

Preprint

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<p>This paper presents a novel proximal planning and control (PPC) formulation for an unmanned ground vehicle (UGV) affected by skidding and slip disturbances. The control approach also considers the presence of moving and static obstacles in the context of operation. The PPC technique is divided into three parts; first, a nonlinear model predictive control (NMPC) based path-planner is designed to periodically generate an updated feasible trajectory to prevent the vehicle from colliding with other objects from start to the goal pose. In particular, a proximal averaged Newton-type method for optimal control (PANOC) is used to design NMPC. Second, evolutionary programming (EP) based kinematic control (KC) is designed to generate the velocity commands. Third, a dynamic control law is proposed with an extended state observer (ESO) to estimate the effects of bounded but unknown perturbations. Finally, simulations are performed in the presence of linear and nonlinear trajectories of moving obstacles (MO) and static obstacles (SO) to verify the performance of the proposed scheme. Additionally, we have investigated and confirmed that the proposed PPC could run in real-time on a CPU with limited resources. </p>

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Section: A Related Workmentioning

confidence: 99%

Design and implementation of proximal planning and control of an unmanned ground vehicle in the dynamic environment

Khan¹,

Guivant²

2022

Preprint

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“…This is due to the fact that isolated rotors are assumed in most of the cases, making the model inversion straightforward. However this assumption becomes limiting for some configurations where aerodynamic interference between rotors is quite strong like the coaxial case, as in the case of [10] where the control allocation for the octorotor is performed without taking into account the coaxial interaction which is considered as part of unmodelled dynamics. These are estimated using an extended inverse multi-quadratic radial basis function neural network that needs to be trained offline.…”

Section: Related Workmentioning

confidence: 99%

Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Chebbi

Defaÿ

Brière

et al. 2020

IEEE Robot. Autom. Lett.

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A Coaxial push-pull multirotor is a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) having 2n (n ∈ IN * ) rotors arranged in n blocks of two coaxial contrarotating rotors. A model-based control allocation algorithm (mixer) for this architecture is proposed. The novelty of the approach lies in the fact that the coaxial aerodynamic interference occurring between the pairs of superimposed rotors is not neglected but rather nonlinear empiric models of the coaxial aerodynamic thrust and torque are used to build the mixer. Real flight experiments were conducted and the new approach showed promising results.

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“…This compensator do not require a priori information about the saturation errors and is simple to adjust the parameter, thus offsetting the effect of the actual saturation error and ensuring that the system consumes less energy by suppressing unreasonably high gain inputs based on the bounded ideal control inputs. (ii) Compared with the existing scheme of TSMC combined with nonlinear disturbances observers, 29,30 this paper employs not only the observer to compensate for disturbances, but also the adaptive method to compensate for the unknown upper bound of the observer error. The robustness to unmodeled dynamics and external disturbances of the system is further enhanced and the chattering caused by switching control gains is further attenuated.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the existing scheme of TSMC combined with nonlinear disturbances observers, 29,30 this paper employs not only the observer to compensate for disturbances, but also the adaptive method to compensate for the unknown upper bound of the observer error. The robustness to unmodeled dynamics and external disturbances of the system is further enhanced and the chattering caused by switching control gains is further attenuated.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

Wei

Jiang

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper designs the double closed-loop control system combining nonlinear disturbances observers (NDOB) and an adaptive fast nonsingular terminal sliding mode (AFNTSM) for the tracking control problem of quadrotor under external disturbances, actuator saturation and unmodeled dynamics. The NDOB-AFNTSM method avoids the singularity problem. To compensate for disturbances, an adaptive strategy estimates the unknown bound of NDOB errors and the unknown bound of disturbances. Besides, new fast reaching law shortens convergence times. The dead zone method is chosen to avoid over-estimation and system divergence. Considering actuator saturation, this paper uses an anti-saturation auxiliary compensator to compensate for unknown saturation errors. System stability is confirmed by the Lyapunov direct method. The simulation results reveal that the proposed method improves convergence speed and accuracy, which is more robuster than similar methods. Finally, two comparative studies for performance indexes in simulation demonstrate the preferable performance of the proposed method.

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Finite time position and heading tracking control of coaxial octorotor based on extended inverse multi-quadratic radial basis function network and external disturbance observer

Cited by 22 publications

References 29 publications

Design and implementation of proximal planning and control of an unmanned ground vehicle in the dynamic environment

Design and implementation of proximal planning and control of an unmanned ground vehicle in the dynamic environment

Novel Model-Based Control Mixing Strategy for a Coaxial Push-Pull Multirotor

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

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