Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

MacKunis, William; Wilcox, Z. D.; Kaiser, M K; Dixon, Warren E.

doi:10.1109/tcst.2009.2036835

Cited by 51 publications

(15 citation statements)

References 37 publications

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“…The proof including the uncertainty in B is lengthy and is omitted here for brevity. The complete proof can be found in [23,24]. The following simulation results demonstrate the performance of the controller in the presence of uncertainty in the input gain matrix B.…”

Section: Remarkmentioning

confidence: 81%

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

2014

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In this paper, a synthetic jet actuators (SJA)-based nonlinear robust controller is developed, which is capable of completely suppressing limit cycle oscillations (LCO) in UAV systems with parametric uncertainty in the SJA dynamics and unmodeled external disturbances. Specifically, the control law compensates for uncertainty in an input gain matrix, which results from the unknown airflow dynamics generated by the SJA. Challenges in the control design include compensation for input-multiplicative parametric uncertainty in the actuator dynamic model. The result was achieved via innovative algebraic manipulation in the error system development, along with a Lyapunov-based robust control law. A rigorous Lyapunov-based stability analysis is utilized to prove asymptotic LCO suppression, considering a detailed dynamic model of the pitching and plunging dynamics. Numerical simulation results are provided to demonstrate the robustness and practical performance of the proposed control law.

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Section: Remarkmentioning

confidence: 81%

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

2014

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“…The residual errors shown in Fig. 2(i) illustrate that the ZG controller group is effective and accurate for solving the tracking control problem for the desired outputs depicted in (12). Finally, in Fig.…”

Section: Simulation Verificationsmentioning

confidence: 82%

ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more

Zhang

Liu

Zhang

et al. 2015

2015 IEEE International Conference on Information and Automation

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In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.

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“…In particular, nonlinear control of fixed-wing UAVs has attracted considerable research efforts during recent years both for civilian and military purposes. The control approaches developed for fixedwing UAVs include gain scheduling, model predictive control, backstepping, sliding mode, nested saturation, fuzzy control, H ∞ control, dynamic inversion based control, model reference adaptive control, and model based fault tolerant control [1][2][3][4][5][6][7][8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics and Control of Aerial Robots

Reyhanoglu¹,

Rehan²

2017

Aerial Robots - Aerodynamics, Control and Applications

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Aerial robotics is one of the fastest growing industry and has a number of evolving applications. Higher agility make aerial robots ideal candidate for applications like rescue missions especially in difficult to access areas. This chapter first derives the complete nonlinear dynamics of an aerial robot consisting of a quadcopter with a twolink robot manipulator. Precise control of such an aerial robot is a challenging task due to the fact that the translational and rotational dynamics of the quadcopter are strongly coupled with the dynamics of the manipulator. We extend our previous results on the control of quadrotor UAVs to the control of aerial robots. In particular, we design a backstepping and Lyapunov-based nonlinear feedback control law that achieves pointto-point control of the areal robot. The effectiveness of this feedback control law is illustrated through a simulation example.

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Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

Cited by 51 publications

References 37 publications

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more

Nonlinear Dynamics and Control of Aerial Robots

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