Model free adaptive control design for a tilt trirotor unmanned aerial vehicle with quaternion feedback: Theory and implementation

Xian, Bin; Li, Jieqi

doi:10.1002/acs.3344

Cited by 10 publications

(4 citation statements)

References 27 publications

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“…Pertinent works in this domain to deal with unknown constant parameters can be found in [19], [20]. Model-free adaptive SMC was developed for tilt trirotor in [21]. Extended model reference adaptive control (MRAC) was studied in [22] for UAVs to handle unknown inertia parameters.…”

Section: ) Literature Review and Motivationmentioning

confidence: 99%

Distributed Robust Formation Control of Heterogeneous Multi-UAVs With Disturbance Rejection

Imran,

Kurtulus,

Memon

et al. 2024

IEEE Access

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This paper investigates the formation control of multiple heterogeneous quadrotor unmanned aerial vehicles (UAVs). The research focuses on developing a distributed robust formation control strategy to effectively manage the translational and attitude motions of the UAVs utilizing an active virtual leader. The communication of each agent in a connected environment is represented by a directed graph. To align with real applications, only a minimum of one agent is required to connect with the leader. The challenge associated with controlling systems is more complicated by the inherent heterogeneity of UAVs, characterized by variations in their model parameters and the presence of external disturbances in the system dynamics. A robust term is proposed to handle time-varying disturbances added to the closed-loop systems. A comprehensive mathematical proof and numerical illustrations are provided to validate the efficacy of the proposed formation control strategy.INDEX TERMS quadrotor, unmanned aerial vehicles, distributed robust control, formation control, external disturbances.

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Section: ) Literature Review and Motivationmentioning

confidence: 99%

Distributed Robust Formation Control of Heterogeneous Multi-UAVs With Disturbance Rejection

Imran,

Kurtulus,

Memon

et al. 2024

IEEE Access

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“…Then the controller is designed according to the optimization theory under constraint conditions [21], [22] by minimizing the criterion function of expected output and actual output. At present, mode-free adaptive control strategy has been successfully applied to tower crane system [23], quad rotor unmanned aerial vehicle [24], synchronous motor [25] and other systems, but no scholar has designed model-free adaptive control strategy for bridge crane system. The bridge crane system is nonlinear, multivariable and strong coupling system, so it is difficult to obtain an accurate mathematical model of the system.…”

Section: Introductionmentioning

confidence: 99%

Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes

et al. 2023

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In the positioning and anti-swing control of bridge crane, a model-free adaptive control (MFAC) based on data-driven is proposed in order to eliminate the dependence of controller design on the model and the influence of unmodeled dynamics and uncertain disturbances on the controller performance. Only using the input and output data of the bridge crane system, the virtual full format dynamic linearized data model of the bridge crane nonlinear system is obtained through the data-driven modeling method. On the basis of this virtual data model, a model-free adaptive control law and a pseudo-Jacobian matrix estimation algorithm are designed according to the optimization theory under the constraint conditions. The stability of the closed loop system and the convergence of the system error are analyzed and proved by Lipschitz condition and inequality theory. The effectiveness of the control strategy for positioning and anti-swing control of bridge cranes is verified on simulated simulation and experimental platform of bridge crane. The results show that the proposed method is feasible and has good anti-disturbance performance and robustness.

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“…An underactuated system becomes more challenging when partial rotor failure happens amidst wind gusts and requires a novel algorithm [33] or a multi-observer-based hybrid controller [34]. A model-free digital adaptive control scheme with control signal time delay, actuator saturation, and nonparametric uncertainties is developed to control underactuated robot manipulators [35] while for a tilt-trirotor UAV, a novel model-free adaptive controller is experimentally validated for attitude and altitude asymptotic tracking and experimentally validated [36]. Tutsoy et al [37] addressed an open problem in adaptive estimator design, convergence speed, and optimal solution and presented a learning-based algorithm to address it.…”

Section: Introductionmentioning

confidence: 99%

Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery

Dalwadi,

Deb,

Ozana

2023

IET Intelligent Trans Sys

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Payload delivery is one of the many Unmanned Aerial Vehicle (UAV) applications that save time, energy, and human resources. The present simulation study compares rotary‐wing quadrotors (RW‐Quadrotors) and tail‐sitter biplane quadrotors (Bi‐Quadrotors) under payload delivery conditions that help to choose the best UAV for the particular mission. A comparative study is performed based on (i) time taken to accomplish the given mission, (ii) trajectory tracking performance, (iii) motor speed throughout the entire flight envelope, and (iv) remains SoC (State of Charge) after the mission. Furthermore, a Backstepping Controller (BSC) and an Adaptive Backstepping Controller (ABSC) are developed for both UAVs to handle mass changes during flight while Genetic Algorithm (GA) is used for the gain optimization. MATLAB Simulink‐based numerical simulation reveals that the Bi‐Quadrotor has a lower average rotor speed than the RW‐Quadrotor. However, the Bi‐Quadrotor's SoC after the mission is higher than the RW‐Quadrotor, and it took less time to accomplish the mission. The ABSC designed for RW‐Quadrotor and Bi‐Quadrotor effectively handles mass change during the mission. However, the BSC controller increases energy consumption for the Bi‐Quadrotor in the presence of wind gusts.

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Model free adaptive control design for a tilt trirotor unmanned aerial vehicle with quaternion feedback: Theory and implementation

Cited by 10 publications

References 27 publications

Distributed Robust Formation Control of Heterogeneous Multi-UAVs With Disturbance Rejection

Distributed Robust Formation Control of Heterogeneous Multi-UAVs With Disturbance Rejection

Data-Driven Model-Free Adaptive Positioning and Anti-Swing Control for Bridge Cranes

Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery

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