Nonlinear adaptive trajectory tracking control for a quad-rotor with parametric uncertainty

Sun, Liang

doi:10.1177/0954410014558692

Cited by 28 publications

(19 citation statements)

References 27 publications

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“…The effect of displacement of CoG in quadrotor is investigated in Palunko and Fierro (2011), and in order to cope with this uncertainty, an adaptive feedback linearization controller is employed. In Sun and Zuo (2014), unified noncertainty equivalent adaptive control method is suggested to handle the parametric uncertainties in mass properties of quadrotor. By using passivity theory in Ha et al (2014), adaptive backstepping control framework for quadrotor helicopter is proposed.…”

Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO) is developed for multi-input multi-output (MIMO) nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC) technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

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Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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“…There is only one input U 1 but three outputs x, y, z. To solve the under-actuated dynamic problems, we have to express the x and y position equations on the basis of U x and U y , respectively (7).…”

Section: Reference Model-based Hierarchical Controller (Rmhc)mentioning

confidence: 99%

“…For instance, a flight controller with a disturbance observer was designed using the backstepping technique, which can be seen in [6]. In [7], a nonlinear adaptive algorithm was used for a trajectory tracking control problem for a quadcopter with parametric uncertainty. Combined with the neural network algorithm, the adaptive control algorithm was applied to elaborate a controller for the trajectory tracking for a quadcopter in [8].…”

Section: Introductionmentioning

confidence: 99%

New Trajectory Tracking Approach for a Quadcopter Using Genetic Algorithm and Reference Model Methods

et al. 2019

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This paper deals with the trajectory tracking problem for a quadrotor unmanned aerial vehicle (UAV). For this purpose, two control strategies are proposed. First, a flight controller with a hierarchical structure is designed, whereby the complete closed-loop system is divided into two blocks. The system has an inner block for attitude control and an outer block for position stabilization, for a total of six proportional-derivative/proportional-integral-derivative (PD/PID) controllers. The second new trajectory tracking strategy is based on attitude stabilization. In addition to a direct stabilization of yaw and altitude, the x and y positions are stabilized by choosing an appropriate control of roll and pitch angles. The relations between positions (x, y) and rotations (roll, pitch) are derived from the natural flight of the quadcopter. In this second approach, with only four controllers, the quadrotor UAV is able to follow any trajectory. In both approaches, the PD/PID controllers are synthesized using the genetic algorithm method, and compared with those obtained by the reference model method. Furthermore, a comparison between PD and PID controller performance is performed. Thereafter, the robustness of the proposed controllers is tested for trajectory tracking in a disturbed environment. Simulation results demonstrate that for the two approaches, PD controllers show a better behavior with respect to quadcopter stabilization than in trajectory tracking under different conditions.

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“…However, it is unable to maintain the thrust constraint. Generally, controllers with saturation functions are available for the thrust constraint [19,24], but it is intricate to designate a saturation function for the sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors

Zou

2016

Int. J. Robust. Nonlinear Control

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This paper exploits a nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors subject to thrust constraint and inertial parameter uncertainty to accomplish trajectory tracking missions. Because of under-actuated nature of the quadrotor, a hierarchical control strategy is available; and position and attitude loop controllers are synthesized according to adaptive sliding mode control projects, where adaptive updates with projection algorithm are developed to ensure bounded estimations for uncertain inertial parameters. Further, during the position loop controller development, an auxiliary dynamic system is introduced, and selection criteria for controller parameters are established to maintain the thrust constraint and to ensure the non-singular requirement of command attitude extraction. It has demonstrated that, the asymptotically stable trajectory tracking can be realized by the asymptotically stable cascaded closed-loop system and auxiliary dynamic system. Simulations validate and highlight the proposed control approach.ROBUST ADAPTIVE HIERARCHICAL SLIDING MODE CONTROL FOR QUADROTORS 927 with 1 2 R n and 2 2 R n . Positive parameters˛,ˇ, k, and l can guarantee that the system (1) is asymptotically stable. Attitude representationThe quadrotor system is described in two frames: the inertial frame I D ¹O I x I y I´I º whose origin is located at a fixed point on the earth, and the body frame B D ¹O b x b y b´b º whose origin is in accordance with the quadrotor center of gravity (c.g.). To begin with, it is necessary to specify the relative attitude between these two frames. The rotation matrix R 2 SO.3/ D ¹R 2 R 3 3 j det R D 1; RR T D R T R D I 3 º describes a rotation of the frame B by an Euler angle ' with respect to an Euler vector k to the frame I, which can be determined with the Euler's formula [26] Given the reference acceleration R p c and the control parameters k˛, kˇ, the resulting control thrust T is bounded and satisfies

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Nonlinear adaptive trajectory tracking control for a quad-rotor with parametric uncertainty

Cited by 28 publications

References 27 publications

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

New Trajectory Tracking Approach for a Quadcopter Using Genetic Algorithm and Reference Model Methods

Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors

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