Model-free control of a 3-DOF piezoelectric nanopositioning platform

Rodriguez-Fortun, J.M.; Rotella, Frédéric; Alfonso, J.; Carrillo, Francisco Javier; Orus, Javier

doi:10.1109/cdc.2013.6759905

Cited by 8 publications

(5 citation statements)

References 12 publications

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“…The literature presents some particular control algorithms that do not rely on modeling. For instance, the model-free control (MFC) approach proposed by Fliess and Join 29 has been successfully illustrated in different concrete case-studies varying from wastewater denitrification, 30 nanopositioning of piezoelectric systems 31 up to inflammation resolution in biomedical applications, 32 see also its references for additional case-study examples and supplementary information. Some research works based on MFC techniques have led to patents, such as Join et al 33 and Abouaı¨ssa et al 34 This control approach has been applied in the aerospace field 35,36 and, except for our previous work, it has never been applied on hybrid MAVs which is an additional motivation for the development of our research project.…”

Section: Literature Reviewmentioning

confidence: 99%

Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Barth

Condomines

Bronz

et al. 2020

International Journal of Micro Air Vehicles

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Micro air vehicles with transitioning flight capabilities, or simply hybrid micro air vehicles, combine the beneficial features of fixed-wing configurations, in terms of endurance, with vertical takeoff and landing capabilities of rotorcrafts to perform five different flight phases during typical missions, such as vertical takeoff, transitioning flight, forward flight, hovering and vertical landing. This promising micro air vehicle class has a wider flight envelope than conventional micro air vehicles, which implies new challenges for both control community and aerodynamic designers. One of the major challenges of hybrid micro air vehicles is the fast variation of aerodynamic forces and moments during the transition flight phase which is difficult to model accurately. To overcome this problem, we propose a flight control architecture that estimates and counteracts in real-time these fast dynamics with an intelligent feedback controller. The proposed flight controller is designed to stabilize the hybrid micro air vehicle attitude as well as its velocity and position during all flight phases. By using model-free control algorithms, the proposed flight control architecture bypasses the need for a precise hybrid micro air vehicle model that is costly and time consuming to obtain. A comprehensive set of flight simulations covering the entire flight envelope of tailsitter micro air vehicles is presented. Finally, real-world flight tests were conducted to compare the model-free control performance to that of the Incremental Nonlinear Dynamic Inversion controller, which has been applied to a variety of aircraft providing effective flight performances.

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Section: Literature Reviewmentioning

confidence: 99%

Model-free control algorithms for micro air vehicles with transitioning flight capabilities

Barth

Condomines

Bronz

et al. 2020

International Journal of Micro Air Vehicles

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“…Although most of the controls described in the literature, are designed according to a modelling process, we can mention some particular techniques where the controller does not rely on modelling. For instance, the model-free control approach proposed by [22] that have been successfully used in different concrete case-studies varying from wastewater denitrification [23], nanopositioning of piezoelectric systems [24] up to inflammation resolution in biomedical applications [25], see also its references for additional case-study examples and supplementary information. Some research works based on model-free control techniques has been led to patents, such as [26] [27].…”

Section: B Links With Model-free Control Algorithmmentioning

confidence: 99%

Towards a Unified Model-Free Control Architecture for Tailsitter Micro Air Vehicles: Flight Simulation Analysis and Experimental Flights

Barth

Condomines

Bronz

et al. 2020

AIAA Scitech 2020 Forum

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Hybrid Micro Air Vehicles (MAVs) combine the beneficial features of rotorcrafts with fixed-wing configurations providing a complete flight envelope that includes vertical take-off, hovering, transitioning flights, forward flight and vertical landing. Tail sitter MAVs belong to a particular class of hybrid MAVs and its peculiar issue is related to the transitioning flight phase where, for high incidence angles, fast changing of aerodynamic forces and moments are observed which are difficult to model and control accurately. To overcome this issue, we propose a control architecture with model-free control algorithms that is able to stabilize the hybrid MAV's attitude, velocity, and position without any modeling process. The proposed control architecture consists basically on two steps : 1) The attitude control, in order to ensure the hybrid MAV's attitude orientation and stability during the entire flight envelope; 2) The guidance system responsible to control both velocity and position. We validate the MFC architecture according to a comprehensive set of flight simulations and real flight experiments. Real flight experiments shown an effective and promising control strategy solving the principal issue of hybrid MAVs that is the formulation of accurate hybrid MAV's dynamic equations to design control laws. The obtained results provide a straightforward way to validate the methodological principles presented in this article as well as certify the designed MFC parameters, and establish a conclusion regarding MFC benefits in both theoretical and practical contexts.

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“…The importance of this topic is highlighted by the following fact: the literature on theoretical advances and on the connections with many case-studies contains several thousands of publications! This communication relates stability margins to the recent modelfree control and the corresponding intelligent PIDs [4], which were already illustrated by many concrete and varied applications (see, e.g., the numerous references in [4], and, during the last months, [3], [14], [17], [19], [20], [21], [24], [29], [30]).…”

Section: Introductionmentioning

confidence: 97%