Robust Control of Quadrotor using Uncertainty and Disturbance Estimation

Dhadekar, Dinesh D.; Sanghani, Prithvi D.; Mangrulkar, K.K.; Talole, S. E.

doi:10.1007/s10846-021-01325-1

Cited by 36 publications

(26 citation statements)

References 52 publications

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“…A similar type of scheme is fuzzy H ∞ output feedback control that produces chattering effect and time delay due to the impulsive behaviour [45][46][47][48][49]. Looking at the current literature, one may see the actuator disturbance rejection method [74].…”

Section: Research Backgroundmentioning

confidence: 99%

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Abro

Ali

Zulkifli

et al. 2021

Mathematical Problems in Engineering

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The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbances. The manuscript consists of the derivations related to the kinematics and dynamics of quadrotor dully derived using the Newton Euler approach. It is one of the strenuous tasks to stabilize and control the quadrotor for helical trajectory tracking since it is an underactuated mechatronic system. In addition to this, with inclusion of unmodelled dynamic factors, it faces some of the serious transient and steady-state issues including Zeno noise. In this research manuscript, dual-loop single-dimension fuzzy sliding mode control (DLSDF-SMC) is proposed to improve the helical trajectory tracking performance, and to tackle the unmodelled dynamic factors, a state feedback controller is proposed consisting of a position estimator and disturbance observer design. The entire system is distributed into two subsystems such that within the angular subsystem, the attitude control is proposed using DLSDF-SMC, and for the translational subsystem, the paper proposes the position control design based on the hyperbolic function to avoid the gimbal lock issue. The overall stability of the proposed closed-loop control scheme is also proved. The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs. This work demonstrates that the DLSDF-SMC control technique with position estimator and disturbance observer design in feedback not only improves the aggressive maneuvers while tracking the helical trajectory but also tackles the transient and steady-state issues.

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Section: Research Backgroundmentioning

confidence: 99%

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Abro

Ali

Zulkifli

et al. 2021

Mathematical Problems in Engineering

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“…Addressing some of the issues associated with the TDC, a novel formulation for uncertainty and disturbance estimation, designated as the UDE, is proposed in Zhong and Rees (2004). Since then, the approach has been further enriched and also used in diverse applications Talole and Phadke (2008, 2009), Talole et al (2011), Dhadekar and Patre (2017), Dhadekar and Talole (2018), Kodhanda et al (2017), Chandar and Talole (2014), Dhadekar et al (2021), Dash et al (2020) and it has been shown that the technique offers a promising solution to tackle control problems of uncertain linear/nonlinear systems subject to external disturbances. The technique is based on the assumption that a signal can be approximated and estimated using an appropriate filter with sufficient bandwidth.…”

Section: Robust Fault-tolerant Control Designmentioning

confidence: 99%

Robust fault-tolerant flight path angle control

Dhadekar

Misra

Talole

2021

AEAT

Self Cite

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Purpose The purpose of the paper is to design a nonlinear dynamic inversion (NDI) based robust fault-tolerant control (FTC) for aircraft longitudinal dynamics subject to system nonlinearities, aerodynamic parametric variations, external wind disturbances and fault/failure in actuator. Design/methodology/approach An uncertainty and disturbance estimator (UDE) technique is used to provide estimate of total disturbance enabling its rejection and thereby achieving robustness to the proposed NDI controller. As needed in the NDI design, the successive derivatives of the output are obtained through an UDE robustified observer making the design implementable. Further, a control allocation scheme consigns control command from primary actuator to the secondary one in the event of fault/failure in the primary actuator. Findings The robustness is achieved against the perturbations mentioned above in the presence of actuator fault/failure. Practical implications Lyapunov analysis proves practical stability of the controller–observer structure. The efficacy and superiority of the proposed design has been demonstrated through Monte-Carlo simulation. Originality/value Unlike in many FTC designs, robustness is provided against system nonlinearities, aerodynamic parametric variations, external wind disturbances and sinusoidal input disturbance using a single control law which caters for fault-free, as well as faulty actuator scenario.

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“…The above mentioned tasks imposes new demands in the areas of control theory and flight control system design in order to improve unmanned quad-rotors capable of operating in harsh environments and coping with complex missions [1][2][3][4]. Currently, many nonlinear control methods have been proposed for unmanned quadrotors [5][6][7][8][9][10][11][12][13][14][15]. In [5], iterative learning control is used to update the feed-forward input signal to the quad-rotor system with recurring uncertainties for achieving high twodimensional tracking performance.…”

Section: Introductionmentioning

confidence: 99%

“…In [6,7], the trajectory tracking problem of quadrotor is analyzed and successfully tackled by a robust control scheme without linear-velocity measurements. In addition, the other control strategy such as adaptive compensation control methods [8][9], back-stepping control strategies [10][11][12], and robust control method [13][14][15] have been also proposed for the attitude and trajectory tracking control of quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Attitude Compensation Control for Quadrotor Under Partial Loss of Actuator Effectiveness

2022

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In this paper, an augmented fault tolerant attitude control system is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle with inertia parameter uncertainties, the external disturbance and the partial loss of actuator effectiveness. To tackle system uncertainty and actuator faults, a fixed time compensation controller is developed based on adaptation mechanism combing with a monitor strategy and Nussbaum gain technique. Robust compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking-errors converge to a prescribed compact set in a fixed time. Finally, the simulation results demonstrate the effectiveness of the proposed controller.

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Robust Control of Quadrotor using Uncertainty and Disturbance Estimation

Cited by 36 publications

References 52 publications

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Robust fault-tolerant flight path angle control

Attitude Compensation Control for Quadrotor Under Partial Loss of Actuator Effectiveness

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