Model Reference Adaptive Control of Switched Dynamical Systems with Applications to Aerial Robotics

Anderson, Robert B.; Marshall, Julius A.; L’Afflitto, Andrea; Dotterweich, James

doi:10.1007/s10846-020-01260-7

Cited by 15 publications

(17 citation statements)

References 51 publications

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“…To ensure practical, collision-free trajectory tracking in a hinged door opening task, a model predictive control is applied on the combined dynamics between the autonomous aerial manipulator and the hinged door with constraints in Lee et al (2020). In Anderson et al (2020), the MRAC law for unknown nonlinear switched plants and switched reference models using the Caratheodory and Filippov frameworks is described. Adaptive FLCs are widely used in research, as proposed in Choi et al (2000), Shojaei et al (2011), and Mukherjee and Waslander (2012).…”

Section: Introductionmentioning

confidence: 99%

Adaptive augmented torque control of a quadcopter with an aerial manipulator

Sumathy

Ghose

2022

Drone Syst. Appl.

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A quadcopter manipulator system is an aerial robot consisting of a quadcopter with a robotic arm attached to it. The system has coupled non-linear dynamics with uncertain time-varying parameters. The work in this paper focuses on designing an adaptive non-linear controller to facilitate the uncertain system’s trajectory tracking and stability. The novelty of the proposed work is the design and implementation of an adaptive feedback linearization controller, called adaptive augmented torque (AAT) control, for the aerial robot. The control law is based on a feedback linearization controller with model reference adaptive controller and a tracking error-based augmented term. Using the input-to-state (ISS) stability concept, a bound on the parameter estimation error is also developed. In the presented methodology, the controller uses estimated values of system parameters obtained from the adaptive mechanism and the tracking error to compute the control input using the AAT control law. An adaptive law for estimating unknown parameters is obtained using the strictly positive real-Lyapunov method. The asymptotic stability of the closed-loop system is analyzed via the Lyapunov theory. Simulations implemented in MATLAB and ROS/Gazebo and preliminary hardware experiments are presented to validate the theoretical results and to corroborate the performance of the AAT control law.

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Section: Introductionmentioning

confidence: 99%

Adaptive augmented torque control of a quadcopter with an aerial manipulator

Sumathy

Ghose

2022

Drone Syst. Appl.

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“…But when the faults occur in the aircraft surface because of actuators, the detection and isolation method based on model cannot work, and it must be reconstructed through the control compensation of other surfaces to achieve fault tolerance. At present, many scholars have proposed adaptive control algorithms to solve various adaptive control problems in the case of surface failure, so as to achieve flight control, but the real-time performance of these algorithms is generally doubted, and a large number of algorithms need accurate mathematical models [12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

“…(1) Different from the adaptive control method, as referred to References [12][13][14][15], based on the optimal control law and the fault diagnosis result, control allocation methods carry out the mode switch. It does not need to carry out complex online calculation through the optimization algorithm, so it will not affect the real-time performance…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration Control Design of UAV against Actuator Faults Based on Control Allocation Method

Cui

Duan

et al. 2022

International Journal of Aerospace Engineering

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The paper concentrates on the problem of fault-tolerant control of UAV against actuator faults from the perspective of flight control system architecture. Using backstepping control method and inverse optimization theory, the design of backstepping optimal control law was constructed. Based on the fault monitoring mechanism of vehicle management computer in the distributed flight control and control allocation system, a fault-tolerant control design method was established in the case of multiple failure modes of the actuators, which compensates the influence caused by the failures. Finally, the effectiveness of the proposed strategy was verified by numerical simulation.

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“…(Ruggiero, Lippiello, & Ollero, 2018). Figure 1 (Anderson, Marshall, L'Afflitto, & Dotterweich, 2020) and Figure 2 show a typical example of a UAM. Equipping a UAV with an arm or a robotic arm enables it to function as a UAM, hence the design of the manipulator is a crucial factor to be considered while categorizing the UAM systems.…”

Section: Uam Systemsmentioning

confidence: 99%

“…Figure 1. A UAM developed for push and pull task (Anderson, Marshall, L'Afflitto, & Dotterweich, 2020)…”

Section: Introductionmentioning

confidence: 99%

Unmanned Aerial Manipulator (UAM) in Construction: Opportunities and Challenges

Nagori¹,

Afsari²,

Jazizadeh³

et al.

EPiC Series in Built Environment

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Unmanned Aerial Vehicles (UAVs) have been utilized as an alternative medium to human workers in data collection processes in various industries. The capabilities of UAVs are now being extended from passive tasks of data collection to active tasks of interacting with the environment by equipping them with manipulators and robotic arms to function as Unmanned Aerial Manipulators (UAMs). Research on UAMs has been growing in the last few years. The applications of UAMs have been studied including sensor installation, inspections, door opening, valve turning, pick and drop, etc. for the oil and gas industry and civil applications. However, there is a lack of studies in understanding the potential applications of UAMs and their capabilities in construction and in augmenting construction activities. The goal of this research is to identify potential opportunities and challenges of the application of UAM in construction projects. The study undertakes a literature review followed by semi-structured interviews with industry experts to identify the potential areas for the UAM application and possible challenges towards the adoption of technology in the field. This study contributes to the introduction of a new research area in contact- based UAV-guided technologies in construction processes.

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Model Reference Adaptive Control of Switched Dynamical Systems with Applications to Aerial Robotics

Cited by 15 publications

References 51 publications

Adaptive augmented torque control of a quadcopter with an aerial manipulator

Adaptive augmented torque control of a quadcopter with an aerial manipulator

Reconfiguration Control Design of UAV against Actuator Faults Based on Control Allocation Method

Unmanned Aerial Manipulator (UAM) in Construction: Opportunities and Challenges

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