Robust control for octorotor Unmanned Aerial Vehicle in H-Configuration

Morfin-Santana, Alejandro; Palacios, Filiberto Munoz; González-Hernández, I.; Espinoza, Eduardo S.; Cruz, Sergio Salazar

doi:10.1109/iceee.2018.8533963

Cited by 4 publications

(3 citation statements)

References 21 publications

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“…According to a large number of simulation experiments, the ratio of the initial value of the rotational inertia to the theoretical value should satisfy 1 < δ < 22 , and the change value of the control parameters b 0 should satisfy 0 ≤ b 0 ≤ 24 . Therefore, the basic theory field of δ is (1, 22) , and the basic theory field of b 0 is [0,24].…”

Section: Adaptive Lardc Attitude Control Methodsmentioning

confidence: 99%

“…However, many studies have considered this parameter constant. A large number of simulations and practical applications have revealed that the parameters, as a function of state, should be timevarying, and better control effects can be obtained by seeking appropriate values [22][23][24]. In this study, the process of adaptive adjustment is added to the LADRC, allowing it to adjust online with changes in the system parameters and improving the robustness and anti-disturbance of the system.…”

Section: Open Accessmentioning

confidence: 99%

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Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Yang

Xi²,

Hao

et al. 2021

Chin. J. Mech. Eng.

105

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Current research on quadrotor modeling mainly focuses on theoretical analysis methods and experimental methods, which have problems such as weak adaptability to the environment, high test costs, and long durations. Additionally, the PID controller, which is currently widely used in quadrotors, requires improvement in anti-interference. Therefore, the aforementioned research has considerable practical significance for the modeling and controller design of quadrotors with strong coupling and nonlinear characteristics. In the present research, an aerodynamic-parameter estimation method and an adaptive attitude control method based on the linear active disturbance rejection controller (LADRC) are designed separately. First, the motion model, dynamics model, and control allocation model of the quad-rotor are established according to the aerodynamic theory and Newton–Euler equations. Next, a more accurate attitude model of the quad-rotor is obtained by using a tool called CIFER to identify the aerodynamic parameters with large uncertainties in the frequency domain. Then, an adaptive attitude decoupling controller based on the LADRC is designed to solve the problem of the poor anti-interference ability of the quad-rotor and adjust the key control parameter b0 automatically according to the change in the moment of inertia in real time. Finally, the proposed approach is verified on a semi-physical simulation platform, and it increases the tracking speed and accuracy of the controller, as well as the anti-disturbance performance and robustness of the control system. This paper proposes an effective aerodynamic-parameter identification method using CIFER and an adaptive attitude decoupling controller with a sufficient anti-interference ability.

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Section: Adaptive Lardc Attitude Control Methodsmentioning

confidence: 99%

Section: Open Accessmentioning

confidence: 99%

Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Yang

Xi²,

Hao

et al. 2021

Chin. J. Mech. Eng.

105

View full text Add to dashboard Cite

show abstract

“…In order to deal with the lumped disturbances presents in the underwater vehicle given in Equation ( 14), a robust compensator based on a robust filter to reduce the effects of external disturbances [51,52] is presented in this section. First, we define the tracking error as e χ i = χ i − χ i d , ėχ i = χi − χi d and ëχ i = χi − χi d .…”

Section: Robust Pd Control Strategymentioning

confidence: 99%

Development of a 6 Degree of Freedom Unmanned Underwater Vehicle: Design, Construction and Real-Time Experiments

Garcia-Nava,

García-Rangel,

Zamora-Suárez

et al. 2023

JMSE

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This research work describes the development of a fully actuated 6 Degree of Freedom (DOF) Unmanned Underwater Vehicle (UUV), which can be used for environmental monitoring, three-dimensional (3D) reconstruction applications, as well a research platform. The main vehicle’s characteristics are: it is designed to have easy access to all components, it has eight thrusters in a vectored configuration, it is based on an open source ArduSub firmware, it has a vision system composed of a stereo camera and a powerful computer for image processing. The mechatronics design is presented, where the mechanical, electrical and electronics, and the vision system are described. Furthermore, a general dynamic model for 6 DOF based on Fossen’s methodology is presented. In addition, a reduced 3 DOF mathematical model is derived for control purposes, where the roll, pitch and depth dynamics are considered. To show the performance in trajectory tracking tasks, two classical control strategies are introduced: a Super Twisting Controller and a Robust Proportional Derivative (PD) Controller. Finally, in order to exhibit the satisfactory performance of the developed vehicle, some experiments were conducted with the Super Twisting and Robust PD Controllers, as well as a 3D reconstruction of a plastic cover on the pool wall.

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Dynamic modeling and robust control for underwater vehicles by using dual quaternions

Zamora Suárez,

Muñoz Palacios,

Salazar Cruz

et al. 2024

Ocean Engineering

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Robust control for octorotor Unmanned Aerial Vehicle in H-Configuration

Cited by 4 publications

References 21 publications

Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

Development of a 6 Degree of Freedom Unmanned Underwater Vehicle: Design, Construction and Real-Time Experiments

Dynamic modeling and robust control for underwater vehicles by using dual quaternions

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