Generalized Proportional Integral Control for an Unmanned Quadrotor System

Fernández-Caballero, Antonio; Belmonte, Lidia M.; Morales, Rafael; Somolinos, J.A.

doi:10.5772/60833

Cited by 20 publications

(19 citation statements)

References 25 publications

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“…a quadrotor UAV, the nonlinear control algorithm, and finally the trajectory planner for the monitoring process. At this respect, it should be mentioned that: (i) this UAV Simulator is part of a virtual reality platform developed by our research group, whose operation will be explained in Section 4; (ii) the dynamics of the quadrotor and the generalised proportional integral (GPI) controller can be consulted in a previous work [22]. Regarding the trajectory planner, the initial versions [16,23] were designed for a circular monitoring path at a constant height defined by the person's head.…”

Section: Monitoring Altitudementioning

confidence: 99%

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Belmonte¹,

García²,

Morales³

et al. 2020

Preprint

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Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

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Section: Monitoring Altitudementioning

confidence: 99%

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Belmonte¹,

García²,

Morales³

et al. 2020

Preprint

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“…Chamseddine et al developed a trajectory planning/replanning strategy based on Bezier polynomials and a flatness property for the quadrotor to drive the system form an initial position to a final one as fast as possible under actuator faults and without hitting system constraints. Fernández‐Caballero et al utilized the flatness approach and the generalized proportional integral to ensure the exponentially stable behavior of the controlled quadrotor position and orientation despite the existence of noisy measurements and disturbances. Limaverde Filho et al combined the flatness and predictive‐control strategies to ensure an online trajectory tracking for the quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Optimal trajectory generation and robust flatness–based tracking control of quadrotors

Abadi

Mekki

Ramdani

2019

Optim Control Appl Methods

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This work proposes an optimal trajectory generation and a robust flatness-based tracking controller design to create a new performance guidance module for the quadrotor in dense indoor environments. The properties of the differential flatness, the B-spline, and the direct collocation method are exploited to convert the constrained optimization problem into a nonlinear programming one, which can be easily resolved by a classic solver. After that, the obtained optimal reference trajectory is applied to the dynamic quadrotor model and two different flatness-based controllers, namely, one based on feedback linearization and one based on feedforward linearization, are developed and compared to ensure the trajectory tracking despite the existence of disturbances and parametric uncertainties. Numerical simulation is executed to evaluate the proposed optimal trajectory generation approach and the robust tracking strategies. It turns out that the controller based on feedforward linearization outperforms the feedback linearization one in robustness and permits obtaining a performance guidance law for an uncertain quadrotor system.

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“…In the last few years, there has been an increased interest from researchers in developing control algorithms for unmanned aerial vehicles (UAVs) [ 1 , 2 , 3 , 4 , 5 , 6 ], due to the multiple applications and uses of this type of vehicle. This has motivated the use of new laboratory platforms capable of simulating the operation of the UAVs.…”

Section: Introductionmentioning

confidence: 99%

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

Belmonte

Morales

Fernández-Caballero

et al. 2016

Sensors

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This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks.

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Generalized Proportional Integral Control for an Unmanned Quadrotor System

Cited by 20 publications

References 25 publications

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Optimal trajectory generation and robust flatness–based tracking control of quadrotors

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

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