Mixed H2/H∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload

Guo, Minhuan; Su, Yan; Gu, Dongbing

doi:10.1016/j.ifacol.2017.08.976

Cited by 14 publications

(5 citation statements)

References 10 publications

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“…In other similar research [17], the H ∞ linear control was also used in a UAV with 2 mobile thrust, which can have oscillatory behaviors within 40 • , greater than the results achieved in this work (less than 20 • ). In [8], an H ∞ controller is used in a linearized model based on Euler-Lagrange with 0.55 kg mass of the UAV and 0.05 kg mass of the suspended load, and the pendulum oscillation achieved peaks of 20 • . In this research, we presented the application of a H ∞ control for the model based on the Kane equation and achieved better results than the last work based on the Euler-Lagrange modeling.…”

Section: Nonlinear Responsementioning

confidence: 99%

Robust Control of an Rotary-wing UAV with Suspended Load

Enriquez,

Galarza,

Cutipa

et al. 2023

Preprint

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There is a growing interest in unmanned aerial vehicles, which can be used to transport loads in emergency situations or to access difficult geography. In certain scenarios, the carried load is connected using nonrigid links attached to the vehicle’s center of gravity, creating a suspended configuration. An unmanned aerial vehicle with a suspended load is a complex system that needs to keep desired levels of performance and stability, despite the disturbances generated by the load oscillations and coupled dynamics. In this work, we design the robust control for an unmanned aerial vehicle with suspended load based in the H∞ norm and the loop shaping approach. The proposed controller is tuned to find the best robustness in terms of performance and stability, even in adverse scenarios with the presence of sensor noise, environmental disturbances and parameter uncertainties. The simulation results show the robust controller keeps good tracking, better disturbance rejections, and it is a straightforward alternative to be considered for complex systems.

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Section: Nonlinear Responsementioning

confidence: 99%

Robust Control of an Rotary-wing UAV with Suspended Load

Enriquez,

Galarza,

Cutipa

et al. 2023

Preprint

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“…where T is the controller's transfer function, P 11 is the plant's transfer function from the input to the output, P 21 is the plant's transfer function from the disturbance to the output, and γ is a user-specified performance specification. A distributed output-feedback nonlinear H ∞ control algorithm is proposed in [108][109][110] for flying control problems for quadrotors in the presence of environmental disturbances and noisy measurements. The controller could regulate the parameter uncertainty effect as well as the problems mentioned above.…”

Section: H∞ Controlmentioning

confidence: 99%

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Singh,

Kumar,

Kumar

2023

FME Transactions

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The Quadrotor Unmanned Aerial Vehicles (UAVs) have gained significant attention in recent years due to their versatile applications in civilian and military sectors. It is a highly nonlinear and underactuated system and an outdoor flight; it is always subjected to external disturbances due to wind gusts and other environmental factors. Implementing the control strategies could be improved in terms of high computational time, uncertainty, approximation error, and a large amount of training data. One of the major challenges in the development of quadrotors is the design of an efficient and reliable control system. This paper presents a comprehensive review of various control strategies for quadrotors and evaluates their performance. The review includes classical control techniques such as PID (Proportional-Integral-Derivative) and LQR (Linear Quadratic Regulator) and modern control strategies such as adaptive and fuzzy control. Comparative analysis of various control strategies has been presented with key challenges and future directions. This study provides a useful guide for researchers and engineers in the design of control systems for quadrotors.

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“…The primary methods that have been applied to identifying lysine methylated proteins in yeast have been mass spectrometry-based approaches that rely on variations of heavy methyl stable isotope labeling of amino acids in cell culture (SILAC) and analyses of whole cell lysates or fractionated lysates [9,67,73]. The use of affinity purification with sequence nonspecific methyl-lysine reader domains or immunoprecipitation with pan-methyl lysine antibodies has been used in numerous contexts in mammalian cells [7,8,20,39,42,45] however it has not been applied extensively in yeast. These approaches may be particularly useful within the context of gene knockout strains for known or candidate KMTs in order to specifically identify modification sites and their cognate enzymes.…”

Section: Assays In Yeastmentioning

confidence: 99%

Using Yeast to Define the Regulatory Role of Protein Lysine Methylation

Jethmalani

Green

2020

CPPS

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: The post-translational modification (PTM) of proteins are crucial for cells to survive under diverse environmental conditions and to respond to stimuli. PTMS are known to govern a broad array of cellular processes including signal transduction and chromatin regulation. The PTM lysine methylation has been extensively studied within the context of chromatin and the epigenetic regulation of the genome. However, it has also emerged as a critical regulator of non-histone proteins important for signal transduction pathways. While the number of known non-histone protein methylation events is increasing, the molecular functions of many of these modifications are not yet known. Proteomic studies of the model system Saccharomyces cerevisiae suggest lysine methylation may regulate a diversity of pathways including transcription, RNA processing, translation, and signal transduction cascades. However, there has still been relatively little investigation of lysine methylation as a broad cellular regulator beyond chromatin and transcription. Here, we outline our current state of understanding of non-histone protein methylation in yeast and propose ways in which the yeast system can be leveraged to develop a much more complete picture of molecular mechanisms through which lysine methylation regulates cellular functions.

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Mixed H2/H∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload

Cited by 14 publications

References 10 publications

Robust Control of an Rotary-wing UAV with Suspended Load

Robust Control of an Rotary-wing UAV with Suspended Load

Comprehensive review of various control strategies for quadrotor unmanned aerial vehicles

Using Yeast to Define the Regulatory Role of Protein Lysine Methylation

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