Optimal model-free backstepping control for a quadrotor helicopter

Glida, Hossam Eddine; Abdou, Latifa; Chelihi, Abdelghani; Sentouh, Chouki; Hasseni, Seif-El-Islam

doi:10.1007/s11071-020-05671-x

Cited by 62 publications

(26 citation statements)

References 45 publications

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“…Hence, to control such a system, a backstepping method is the best choice [16,17]. Backstepping control is based on the Lyapunov stability principle of dynamic systems, and it is robust to parametric variation; thus, it ensures the stability of the system and gives good performances results.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Control of Drone

Saibi

Boushaki

Belaidi

2022

The 1st International Conference on Computational Engineering and Intelligent Systems

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This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.

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Section: Introductionmentioning

confidence: 99%

Backstepping Control of Drone

Saibi

Boushaki

Belaidi

2022

The 1st International Conference on Computational Engineering and Intelligent Systems

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“…In recent years, the control methods for Euler-Lagrange (EL) systems have absorbed the concerns of many scholars due to the potential applications in the mechanical and electrical systems, such as robot manipulators [1,2], spacecraft systems [3,4], and quadrotor helicopters [5,6]. In view of this, the  E-mail address: guoyong@nwpu.edu.cn sliding mode control [7], neural network control [8], backstepping control [9], and fuzzy control [10] are widely employed in EL systems.…”

Section: Introductionmentioning

confidence: 99%

Full-Order Sliding Mode Bounded Control for Euler-Lagrange Systems with External Disturbances

Guo

Lin

et al. 2022

Preprint

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This paper researches two finite-time bounded control methods for Euler-Lagrange systems exposed to external disturbances. A novel full-order terminal sliding mode surface that is convenient for solving the input constraints is designed based on the characters of the hyperbolic tangent function. By using the designed full-order terminal sliding mode surface, the finite-time controller with input constraints can deal with external disturbances with the exactly known upper bound. Further, an adaptive finite-time bounded controller is designed to deal with the external disturbances with the upper bound that cannot be accurately known. Finally, the finite-time stability of the system is proved by using Lyapunov theory and numerical simulations.

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“…Additionally, several disturbances observers have been properly reported in [28][29][30][31] for compositing interesting control schemes. Moreover, nonlinear controllers based on sliding modes [32][33][34] and backstepping [35][36][37] approaches have been suitably introduced to deal with disturbances and uncertainties in quadrotor vehicles and, in some studies, further extended for fault tolerant controllers. In addition, important contributions based on theories such as robust H ∞ control [38], model predictive control [39], generalized proportional-integral control [40], energy-based control [41,42], optimal control [21,43], Lyapunov-based control [44], adaptive control [45,46], etc., have vastly improved the performance of quadrotors in regulation and tracking tasks.…”

Section: Introductionmentioning

confidence: 99%

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Beltrán-Carbajal

Yañez-Badillo²,

Tapia‐Olvera

et al. 2022

Mathematics

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Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

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Optimal model-free backstepping control for a quadrotor helicopter

Cited by 62 publications

References 45 publications

Backstepping Control of Drone

Backstepping Control of Drone

Full-Order Sliding Mode Bounded Control for Euler-Lagrange Systems with External Disturbances

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

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