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

Guerrero-Sánchez, María-Eusebia; Abaunza, Hernán; Castillo, Pedro; Lozano, Rogelio; Beltrán, Carlos Daniel García; Rodriguez-Palacios, Alejandro

doi:10.3390/app7010013

Cited by 13 publications

(6 citation statements)

References 29 publications

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“…Remark 3: The quaternion-based PD controller (31) is only used to show the effectiveness of the proposed FE system. The study of the controller is out of the scope of this work, more details could be found in [35].…”

Section: A Nominal Controllermentioning

confidence: 99%

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Fault Estimation and Fault Tolerant Control Strategies Applied to VTOL Aerial Vehicles With Soft and Aggressive Actuator Faults

et al. 2020

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Actuator Fault Estimation (FE) and Fault Tolerant Control (FTC) strategies designed with model-based observers for Vertical TakeOff and Landing (VTOL) aerial vehicles are proposed and validated experimentally in this paper. Three observers are considered for FE: a nonlinear adaptive observer and a linear Proportional-Integral Observer (PIO) applied to a Planar VTOL and a quasi-Linear Parameter Varying (qLPV) PIO applied to a quadcopter vehicle. The fault detection is done by comparing the fault estimation signal with a predefined threshold. Fault isolation is achieved by analyzing the sign of the fault estimation signal. The Available Control Authority Index (ACAI) method is used to analyze the controllability properties of the vehicles under actuator faults. The main contribution of this work is the design and the experimental validation of complete active FTC schemes by using the proposed FE systems in order to accommodate a soft actuator fault and reconfigure an aggressive fault, even when the vehicle is flying in a non-hover position. Finally, the proposed FTC schemes are validated in different cases of flight tests for illustrating the effectiveness of the strategies.

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Section: A Nominal Controllermentioning

confidence: 99%

“…. Then, from (35) it is clear that fault isolation can be done by analyzing the sign value of the components ofη r , as it is shown in Table 3. Finally, FA control law (33) using (34) can be applied.…”

Section: Fa Control Lawmentioning

confidence: 99%

Fault Estimation and Fault Tolerant Control Strategies Applied to VTOL Aerial Vehicles With Soft and Aggressive Actuator Faults

et al. 2020

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“…However, it is limited to tracking of the attitude, only. In [25], the idea of a quaternion-passivity-based control is used without the need to solve partial differential equations (PDEs).…”

Section: Introductionmentioning

confidence: 99%

Energy Based Control of a Swash Mass Helicopter Through Decoupling Change of Coordinates

Salamat

Tonello

2020

IEEE Access

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We consider a small helicopter structure that is maneuvered through the control of moving masses. It is referred to as a swash mass helicopter (SMH). This paper addresses the trajectory tracking control problem for the SMH, with a specific focus on the decoupling change of coordinates of both rotational and translational dynamics. We propose a control scheme in which position tracking is the primary objective, while the attitude tracking task is considered as a secondary objective. The intermediate control signals related to the attitude dynamics exploit the structural properties of the SMH and are enhanced with terms that grant a more accurate tracking of the target trajectory. The closed-loop system stability under the trajectory tracking objective is obtained following the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) approach. In addition, the presence of external disturbances can diminish the trajectory tracking performance. For this reason, a nonlinear outer loop controller is added to the IDA-PBC to compensate the disturbances. Finally, the results of several simulations are reported to evaluate the performance of the control strategy. INDEX TERMS Unmanned aerial vehicles, swash mass helicopter, decoupling change of coordinates, passivity-based control, trajectory tracking.

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“…The present work uses the model structure exposed in [6,12,15] as a starting point but, as a novel contribution, introduces a nonlinear time-varying mathematic model of the rotors used in the DJI F-450 quadrotor (Figure 1), that is used to perform a more detailed and realistic analysis of the control system through numerical simulations. Several methods have been published to control the fly of SUAV [1,2,5,[9][10][11]13,14,[28][29][30][31][32][33][34][35]. In the present work, we propose a control law structure based on a combination of PID and LQR/LQG algorithms but, in contrast to those exposed in others works [5,[30][31][32][33][34][35], a modified LQR/LQG controller is used to obtain the optimal pre-tuning parameters of four PID controllers, commonly employed for attitude and altitude control in multirotor systems (hover maneuver).…”

Section: Introductionmentioning

confidence: 99%

MIMO PID Controller Tuning Method for Quadrotor Based on LQR/LQG Theory

Guardeño¹,

López²,

Sánchez³

2019

Preprint

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In this work a new pre-tuning multivariable PID controllers method for quadrotors is put forward. A procedure based on LQR/LQG theory is proposed for attitude and altitude control. With the aim of analyzing performance and robustness of the proposed method, a non-linear mathematical model of the DJI-F450 quadrotor is employed, where rotors dynamics, togheter with sensors drift/bias properties and noise characteristics of low-cost comercial sensors typically used in this type of applications (such as MARG with MEMS technology and LIDAR) are considered. In order to estimate the state vector and compensate bias/drift effects on rate gyros of the MARG, a combination of filtering and data fusion algorithms (Kalman filter and Madgwick algorithm for attitude estimation) are proposed and implemented. Performance and robutsness analysis of the control system is carried out by means of numerical simulations, which take into account the presence of uncertainty in the plant model and external disturbances. The obtained results show that the proposed pre-tuning method for multivariable PID controller is robust with respect to: a) parametric uncertainty in the plant model, b) disturbances acting at the plant input, c) sensors measurement and estimation errors.One crucial concern to allow the indoor operation of a SUAV is the attitude and position estimation, typically based on the use of inertial measurement units (IMU) and cameras [6,8,[17][18][19][20][21]. To estimate the attitude, position and velocity state variables of the vehicle from the measurements provided by the sensors, a variety of methods are used, such as Kalman filters (KF) [6,18,22,23], extended Kalman filters (EKF) [23][24][25] and complementary filters [4,27] among others.Preprints (www.preprints.org) | NOT PEER-REVIEWED |

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

Cited by 13 publications

References 29 publications

Fault Estimation and Fault Tolerant Control Strategies Applied to VTOL Aerial Vehicles With Soft and Aggressive Actuator Faults

Fault Estimation and Fault Tolerant Control Strategies Applied to VTOL Aerial Vehicles With Soft and Aggressive Actuator Faults

Energy Based Control of a Swash Mass Helicopter Through Decoupling Change of Coordinates

MIMO PID Controller Tuning Method for Quadrotor Based on LQR/LQG Theory

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