Robust distributed attitude synchronization of multiple three-DOF experimental helicopters

IEEE Trans. Ind. Electron.

et al. 2015

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This work proposes a robust attitude tracking controller for a table-mounted experimental helicopter which has three rotational degree-of-freedom and only equips angular position sensors. The proposed controller can achieve outputfeedback attitude tracking of the pitch and elevation channels of the helicopter. The experimental platform is subjected to model uncertainties, coupling effects, and equips with an independent active disturbance system, which have effectively examined the robustness of proposed controller. The control law includes a second-order auxiliary system to generate filtered error signals, and a discontinuous uncertainty and disturbance estimation (UDE) term to compensate the model uncertainties and external disturbances. A Lyapunov based stability analysis shows the semiglobal asymptotic tracking ability of the proposed controller. The experimental results further demonstrate the propose method can achieve equivalent dynamic and static performance compare to other high-performance state-feedback methods, and even when the initial position is away from design point, it also gives more consistent responses than other linear methods.

Section: Discussionmentioning

confidence: 99%

Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback

Liu

IEEE Trans. Ind. Electron.

et al. 2015

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“…In contrast, the tracking error obtained by applying the proposed controller can be made arbitrarily small (provided the time delay in CIIN is small enough) and the controller signal is smooth. In the context of this paper, it is possible to set the time delay in CIIN small enough by choosing a sufficiently small sampling step and considering a one‐step delay in CIIN . The comparison results show the potential advantages of the developed controller in balancing the tracking precision, the communication cost, the smoothness of controller signal. For verification purpose, we design and compare six implementation cases in the simulations.…”

Section: Introductionmentioning

confidence: 95%

A distributed leader‐following tracking controller using delayed control input information from neighbors

Intl J Robust & Nonlinear

Chen

Wang

2019

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Summary In this paper, we propose a simple, continuous, and distributed controller for the second‐order multiagent system to achieve leader‐following trajectory tracking, by exploiting the control input information of neighbors (CIIN) and using proportional‐derivative (PD) control in terms of local neighborhood synchronization error. A constant time delay is introduced in the CIIN as a design parameter to avoid the algebraic loop issue arising from the control input coupling. We develop an easily testable condition on the PD gains to ensure that the resulting neutral‐type error system is input‐to‐state stable for an arbitrary bounded delay, and prove that when the leader's acceleration is a Lipschitz continuous function with respect to time, the ultimate bound of tracking errors is strictly increasing with respect to the introduced time delay. Moreover, we analyze the robustness of the controller with respect to model uncertainties and show its potential advantages over two existing controllers in balancing the steady‐state tracking precision, the communication cost, and the continuity of controller signal. Finally, extensive simulations are conducted to show the effect of the delay on system stability, to verify the condition on PD gains, to confirm the robustness of the controller, and to demonstrate the detailed advantages.

“…However, the distributed control issue for the MVS subject to input disturbance and simultaneously having no velocity measurements has not received enough attention. In most of the existing work on robust synchronization control of MVS, the velocities of each vehicle and its neighbors are assumed to be available . On the other hand, although some output (or partial state‐) feedback strategies for motion synchronization have been proposed as in other works, the robustness issue has not been systematically examined, and a modified design for robustness improvement is usually necessary for practical implementation.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental evaluation of robust motion synchronization control for multivehicle system without velocity measurements

Intl J Robust & Nonlinear

Zhang

Liu

2018

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Summary This paper investigates the robust motion synchronization problem of a class of multivehicle systems suffering from input disturbances but without velocity measurements. We first evaluate a velocity estimator–based scheme and show the performance limitation of the velocity estimator. We then develop a robust distributed control solution, which includes a passivity filter to inject damping into the system and to yield an output‐feedback stabilizer and a novel continuous disturbance estimator (DE) to achieve disturbance compensation. The solution has three attractive features: (i) both the DE and stabilizer are continuous and have the lowest orders; (ii) the DE can be designed in either the time domain or the frequency domain; (iii) by introducing an ingenious parameter mapping for the DE, it is easy to tune a single parameter to render the steady‐state synchronization and tracking errors sufficiently small. The solution is finally implemented on an experimental platform consisting of four desktop three‐degrees‐of‐freedom helicopters. The results of five control scenarios demonstrate that the platform suffers from severe input disturbances, and that different levels of control accuracy can easily be obtained by tuning the DE parameter.