Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

Pedroza, Natalie Ramos; MacKunis, William; Golubev, Vladimir V.

doi:10.3390/robotics3040330

Cited by 10 publications

(5 citation statements)

References 24 publications

(37 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A straightforward proof of the above statement based on Lyapunov stability analysis can be utilized and is omitted here for brevity. Details of the proof are similar to those provided in our recent results [19,20].…”

Section: Robust Controller Developmentmentioning

confidence: 65%

“…This work presents a robust nonlinear flight control strategy [19][20][21] capable of the uncertain bounded wake vortex disturbance rejection in different phases of evolution, including in-ground and out-of-ground effects. The control of the systems in the presence of uncertainties and unmodeled disturbances is used nowadays for various practical applications.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Nonlinear Tracking Control for Unmanned Aircraft in the Presence of Wake Vortex

et al. 2021

Self Cite

View full text Add to dashboard Cite

The flight trajectory of unmanned aerial vehicles (UAVs) can be significantly affected by external disturbances such as turbulence, upstream wake vortices, or wind gusts. These effects present challenges for UAV flight safety. Hence, addressing these challenges is of critical importance for the integration of unmanned aerial systems (UAS) into the National Airspace System (NAS), especially in terminal zones. This work presents a robust nonlinear control method that has been designed to achieve roll/yaw regulation in the presence of unmodeled external disturbances and system nonlinearities. The data from NASA-conducted airport experimental measurements as well as high-fidelity Large Eddy Simulations of the wake vortex are used in the study. Side-by-side simulation comparisons between the robust nonlinear control law and both linear H∞ and PID control laws are provided for completeness. These simulations are focused on applications involving small UAV affected by the wake vortex disturbance in the vicinity of the ground (which models the take-off or landing phase) as well as in the out-of-ground zone. The results demonstrate the capability of the proposed nonlinear controller to asymptotically reject wake vortex disturbance in the presence of the nonlinearities in the system (i.e., parametric variations, unmodeled, time-varying disturbances). Further, the nonlinear controller is designed with a computationally efficient structure without the need for the complex calculations or function approximators in the control loop. Such a structure is motivated by UAV applications where onboard computational resources are limited.

show abstract

Section: Robust Controller Developmentmentioning

confidence: 65%

Section: Introductionmentioning

confidence: 99%

Robust Nonlinear Tracking Control for Unmanned Aircraft in the Presence of Wake Vortex

et al. 2021

Self Cite

View full text Add to dashboard Cite

show abstract

“…The RISE feedback was used in [19,20] for trajectory tracking control and active vibration control for quadrotor unmanned aerial vehicles (UAVs) and flexible refueling hose, respectively. In the same manner, the RISE feedback was used in [21] for suppressing limit cycle oscillations in UAVs with dynamic model uncertainty and parametric actuator uncertainty. Furthermore, the authors of [22] used RISE feedback to compensate for uncertain, nonautonomous disturbances for a class of coupled, fully-actuated underwater vehicles.…”

Section: Introductionmentioning

confidence: 99%

Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload

2020

View full text Add to dashboard Cite

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.

show abstract

“…Other works consider the fact that the disturbance cannot be linear parameterized, therefore, neural network and fuzzy logic methods are called through the control design (Dixon, Zergeroglu and Dawson, 2004;Gao et al, 2018;Nafia et al, 2018). However, there are many limitations with these controllers; therefore, the integral of the sign of the error (RISE) is utilized in (Cai, de Queiroz and Dawson, 2006;Patre et al, 2006;Pedroza, MacKunis and Golubev, 2014;Shao et al, 2018;Su, Xie and Li, 2019) to dominate the limitations and yield asymptotic tracking errors.…”

Section: Introductionmentioning

confidence: 99%

Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties

2020

ZJPAS

View full text Add to dashboard Cite

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable. To perform these requirements, we use a nonlinear Lyapunov-based approach for designing the controller and guaranteeing its stability. MATLAB-SIMULINK software is used to validate the approach and demonstrate the performance of the controller. Simulation results show that the derived controller is stable, robust to the disturbance and uncertainties, accurate, and implementable.

show abstract

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

Cited by 10 publications

References 24 publications

Robust Nonlinear Tracking Control for Unmanned Aircraft in the Presence of Wake Vortex

Robust Nonlinear Tracking Control for Unmanned Aircraft in the Presence of Wake Vortex

Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload

Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties

Contact Info

Product

Resources

About