Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors

Zou, Yao

doi:10.1002/rnc.3607

Cited by 83 publications

(74 citation statements)

References 27 publications

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“…According to the work of Abdessameud and Tayebi,

Q_{i}^{e}

satisfies the following unit quaternion dynamics:

{\overset{Q}{true}}_{i}^{e} = \frac{1}{2} G_{i} ((), Q_{i}^{e}) ω_{i}^{e},

where

ω_{i}^{e} = ω_{i} - R_{i} {false(Q_{i}^{e} false)}^{T} ω_{i}^{c}

is the angular velocity error with

ω_{i}^{c}

being the command angular velocity. Please refer to the work of Zou for the derivations of

ω_{i}^{c}

and its derivative

{\overset{ω}{true}}_{i}^{c}

. Furthermore, it follows from and

{\overset{R}{true}}_{i} false(Q_{i}^{e} false) = R_{i} false(Q_{i}^{e} false) {false(ω_{i}^{e} false)}^{\times}

that the dynamics of

ω_{i}^{e}

satisfies

J_{i} {\overset{ω}{true}}_{i}^{e} = - ω_{i}^{\times} J_{i} ω_{i} + τ_{i} + J_{i} ([], {((), ω_{i}^{e})}^{\times} ...)

…”

Section: Resultsmentioning

confidence: 99%

“…Remark It follows from that, for the i th VTOL UAV, the command angular velocity

ω_{i}^{c}

and its derivative

{\overset{ω}{true}}_{i}^{c}

are required to evaluate the applied torque τ i . According to the work of Zou, the derivatives of the command force u i are available to determine

ω_{i}^{c}

and

{\overset{ω}{true}}_{i}^{c}

. From , it is intricate to give explicit expressions of

{\overset{u}{true}}_{i}

and

{\overset{u}{true}}_{i}

.…”

Section: Resultsmentioning

confidence: 99%

“…where e i = i − R i (Q e i ) T c i is the angular velocity error with c i being the command angular velocity. Please refer to the work of Zou 36 for the derivations of c i and its derivativėc i . Furthermore, it follows from (5)…”

Section: Problem Transformationmentioning

confidence: 99%

See 2 more Smart Citations

Distributed hierarchical control for multiple vertical takeoff and landing UAVs with a distance‐based network topology

Zou

Meng

2019

Intl J Robust & Nonlinear

Self Cite

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Summary A distributed formation control algorithm is proposed for multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) in this paper. The neighboring information is obtained by active measurements rather than by nonactive communications as done in the current literatures. By properly expanding the distance‐based network topology structure between each pair of UAVs, a distributed algorithm is proposed such that the switching topology remains connected along the time. Since a VTOL UAV system is typically underactuated, a hierarchical idea is introduced to derive the control design procedure. More specifically, the studied formation control problem of multiple VTOL UAVs is first transformed into the consensus problem of their corresponding error systems. Then, a command force and an applied torque are synthesized for each VTOL UAV such that the error systems reach a consensus. It is demonstrated in terms of Lyapunov theory that the proposed distributed hierarchical control algorithm guarantees the formation realization of multiple VTOL UAVs while maintaining the network connectivity. Finally, simulations are performed to validate the theoretical results.

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“…According to the work of Abdessameud and Tayebi,

Q_{i}^{e}

satisfies the following unit quaternion dynamics:

{\overset{Q}{true}}_{i}^{e} = \frac{1}{2} G_{i} ((), Q_{i}^{e}) ω_{i}^{e},

where

ω_{i}^{e} = ω_{i} - R_{i} {false(Q_{i}^{e} false)}^{T} ω_{i}^{c}

is the angular velocity error with

ω_{i}^{c}

being the command angular velocity. Please refer to the work of Zou for the derivations of

ω_{i}^{c}

and its derivative

{\overset{ω}{true}}_{i}^{c}

. Furthermore, it follows from and

{\overset{R}{true}}_{i} false(Q_{i}^{e} false) = R_{i} false(Q_{i}^{e} false) {false(ω_{i}^{e} false)}^{\times}

that the dynamics of

ω_{i}^{e}

satisfies

J_{i} {\overset{ω}{true}}_{i}^{e} = - ω_{i}^{\times} J_{i} ω_{i} + τ_{i} + J_{i} ([], {((), ω_{i}^{e})}^{\times} ...)

…”

Section: Resultsmentioning

confidence: 99%

“…Remark It follows from that, for the i th VTOL UAV, the command angular velocity

ω_{i}^{c}

and its derivative

{\overset{ω}{true}}_{i}^{c}

are required to evaluate the applied torque τ i . According to the work of Zou, the derivatives of the command force u i are available to determine

ω_{i}^{c}

and

{\overset{ω}{true}}_{i}^{c}

. From , it is intricate to give explicit expressions of

{\overset{u}{true}}_{i}

and

{\overset{u}{true}}_{i}

.…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Distributed hierarchical control for multiple vertical takeoff and landing UAVs with a distance‐based network topology

Zou

Meng

2019

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…In recent years, a wide number of strategies have been developed to solve the stabilization problem for this type of system using different methodologies in terms of control techniques and modeling approaches, such as [1][2][3][4]. Several strategies based on Euler angles provide an intuitive and easy way to visualize the quad-rotor kinematic and dynamical properties, but some obstacles are found with this representation, for instance, certain orientations can not be defined due to mathematical singularities, also a problem known as "gimbal lock" exists, which consists on an infinite number of possible representations for a single rotation.…”

Section: Introductionmentioning

confidence: 99%

Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

et al. 2016

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Abstract:In this paper the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an Unmanned Aerial Vehicle (UAV) described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced. Then, a new methodology: a quaternion-passivity-based control is derived, which does not compute excessive and complex Partial Differential Equations (PDEs) for synthesizing the control law, making a significant advantage in comparison with other methodologies. Therefore, the control design to a system as the quad-rotor is easily solved by the proposed methodology. Another advantage is the possibility to stabilize quad-rotor full dynamics which may not be possible with classical PBC techniques. Experimental results and numerical simulations to validate our proposed scheme are presented.

show abstract

“…Many nonlinear controllers have also been proposed for trajectory tracking. One may quote the feedback linearization, 5,6 Back-stepping approach, 7,8 sliding mode method, 9,10 robust and adaptive techniques, 11,12 and some intelligent controllers. 13,14 Quadrotors face 2 challenges of stability and payload capacity.…”

mentioning

confidence: 99%

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

Tofigh

Mahjoob

Ayati

2017

Intl J Robust & Nonlinear

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Summary In this article, a nonlinear tracking controller is designed based on Lyapunov stability for a novel aerial robot. The proposed 6‐rotor configuration improves stability and payload lifting capacity of the robot compared with conventional quadrotors while avoiding further complexities in the robot dynamics and steering principles. The dynamical model of the robot is derived using Newton‐Euler method. The model represents a nonlinear, coupled, and underactuated system. The proposed control strategy includes 2 main parts: an attitude controller and a position controller. Both the attitude and position controls are Lyapunov‐based nonlinear tracking controllers that guarantee the asymptotic convergence of the states' tracking errors to zero. Simulation results are presented to illustrate appropriate performance of the closed‐loop system in terms of position/attitude tracking even in the presence of wind disturbance.

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Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors

Cited by 83 publications

References 27 publications

Distributed hierarchical control for multiple vertical takeoff and landing UAVs with a distance‐based network topology

Distributed hierarchical control for multiple vertical takeoff and landing UAVs with a distance‐based network topology

Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

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