Nonlinear robust output feedback tracking control of a quadrotor UAV using quaternion representation

Xian, Bin; Diao, Chen; Zhao, Bo; Zhang, Yao

doi:10.1007/s11071-014-1843-x

Cited by 96 publications

(40 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Similarly, in other works, 2 ANNs are used to estimate and control a quadrotor with external disturbances and unmodeled dynamics. 40,41 The later work is only dedicated to the altitude and attitude control of the quadrotor. A stochastic model including the wind forces and torques is considered to design a controller for reference tracking of a quadrotor in 3-dimensional space.…”

Section: Application 2: Quadrotormentioning

confidence: 99%

Optimal model‐free control for a generic MIMO nonlinear system with application to autonomous mobile robots

Safaei

Mahyuddin

2018

Adaptive Control & Signal

View full text Add to dashboard Cite

In this paper, the design procedure for optimal model-free control algorithm is presented for the tracking problem of completely unknown nonlinear dynamic systems operating under unknown disturbances. The procedure includes a new structure in the context of model-free control and data-driven control algorithms. In the new structure, the unknown nonlinear functions are segmented into 1 unknown linear-in-states part and another unknown nonlinear part. The adaptive laws proposed for estimating the unknown system dynamics are regressor-free estimation methods in which there is no need for regressor parameters and, consequently, the persistent excitation condition is not required anymore. Moreover, the main controller gains are updated online, incorporating the adapted values of linear terms in the system dynamics. A comparative study is presented to show that the proposed optimal model-free control outperforms the state-of-the-art model-free control algorithms. In addition, the simulation results for the application of the algorithm on autonomous mobile robots are provided.

show abstract

Section: Application 2: Quadrotormentioning

confidence: 99%

Optimal model‐free control for a generic MIMO nonlinear system with application to autonomous mobile robots

Safaei

Mahyuddin

2018

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

“…Theorem 2 Suppose Assumption A5 holds, the closedloop system, composed of the controlled plant (2) and controller (12), (6), (8), (13), and (16), has semiglobal robust tracking property, that is, for any given constants ε > 0, r z ≥ 0 and r w ≥ 0, if z(t 0 ) ≤ r z and w(t 0 ) ≤ r w , one can find sufficiently large constants f i (i = 1, 2) and constant T ≥ t 0 , such that the states x(t), z(t), and w(t) are bounded, and moreover,…”

Section: Robust Propertymentioning

confidence: 99%

“…Various control algorithms are investigated, from classical control to advanced control, for the motion control of helicopters. Robust controllers are used widely to take into account of uncertainties and couplings [3][4][5][6][7]. Dynamical sliding-mode control approach has been often adopted for plant subjects to uncertainties [8,9].…”

Section: Introductionmentioning

confidence: 99%

Robust backstepping decentralized tracking control for a 3-DOF helicopter

Yao

Sun

et al. 2015

Nonlinear Dyn

View full text Add to dashboard Cite

A three-degree-of-freedom helicopter attitude tracking control system can be described as a multi-input multi-output strict-feedback form system with unknown parameters, bounded disturbances, and nonlinear uncertain cross-couplings. Both normbounded and nonlinear uncertainties are discussed. The whole nonlinear system is divided into a nominal disturbance-free system and an equivalent disturbance part. A robust control method based on signal compensation technique and backstepping decentralized control is proposed. Robust practical tracking property of closed-loop system is proven, and the tracking error can be made as small as desired with expected convergence rate. Experimental results demonstrate the improved tracking performance of the attitude tracking control system with different types of reference signals, such as step signals, ramp signals, and nonstationary sinusoidal signals.

show abstract

“…The authors forced the closed-loop trajectories to enter in a fixed neighborhood around the origin in a finite time and remain thereafter. A quaternion-based nonlinear robust output feedback tracking controller is developed in [7] to address the attitude and altitude tracking problem of a quad-rotor, here, approximation components based on neural network are introduced to estimate the model uncertainties and robust feedback components are designed to compensate for external disturbances. Also, [8] investigates the attitude control design using backstepping technique for a quad-rotor represented by unit quaternions, external disturbance torques were taken into consideration, the attitude and the angular velocity of the quad-rotor were governed to be uniformly ultimately bounded by the proposed controller.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2016

View full text Add to dashboard Cite

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

Nonlinear robust output feedback tracking control of a quadrotor UAV using quaternion representation

Cited by 96 publications

References 28 publications

Optimal model‐free control for a generic MIMO nonlinear system with application to autonomous mobile robots

Optimal model‐free control for a generic MIMO nonlinear system with application to autonomous mobile robots

Robust backstepping decentralized tracking control for a 3-DOF helicopter

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

Contact Info

Product

Resources

About