Robust Optimal Control of Quadrotor UAVs

Satici, Aykut C.; Poonawala, Hasan A.; Spong, Mark W.

doi:10.1109/access.2013.2260794

Cited by 88 publications

(41 citation statements)

References 21 publications

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“…Though there are proposals for advanced adaptive control using artificial neural networks [30], or optimal robust control [31], in this section we will approach the problem from the point of view of classical Proportional Integral Derivative (PID) controllers [24]. For this section, we follow the modeling approach of quadrotor dynamics and kinematics proposed in [32] consisting of a collection of equations, involving spatial coordinates, local angles, torques, angular speed of rotors, and the electric modeling.…”

Section: Quadrotor Control Systemmentioning

confidence: 99%

Quasi-stationary state transportation of a hose with quadrotors

Sanz

López-Guede

Graña

2015

Robotics and Autonomous Systems

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Section: Quadrotor Control Systemmentioning

confidence: 99%

Quasi-stationary state transportation of a hose with quadrotors

Sanz

López-Guede

Graña

2015

Robotics and Autonomous Systems

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“…In recent years, the research on quadrotor vehicles has attracted great interest due to the wide range of civil and military applications, and many achievements have been made [1,2]. As a new kind of unmanned aerial vehicle (UAV), the quadrotor is a small rotorcraft with four propellers driven by four direct current (DC) motors respectively [3].…”

Section: Introductionmentioning

confidence: 99%

Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Shi

Chou

2018

Electronics

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During the flight of the quadrotor, the existence of a slung load will exert a swing effect on the system and the motion of which will significantly change the dynamics of the quadrotor. The external torque caused by the slung load can be considered as a kind of disturbance and it is a threat to the attitude control stability of the system. In order to solve this problem, a high precision disturbance compensation method is presented in this paper, based on the harmonic extended state observer (HESO). Firstly, a generic mathematical model for the quadrotor-slung load system is obtained via the Lagrangian mechanics, and according to the analysis of the slung load motion, we obtain the disturbance as a form of periodic equation. Secondly, based on the dynamic model of the disturbance, we propose a HESO to achieve high precision disturbance estimation and its stability is proved by Lyapunov theory. Thirdly, we designed an attitude tracking controller based on backstepping method, and discussed the stability of the entire system. Finally, numerical simulations and real time experiments are carried out to evaluate the performance of the proposed method. Our results show that the robustness of the quadrotor subject to slung load has been improved.

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“…For a fuzzy model having q input parameters, for each input parameters p MFs are defined. Then, for a full fuzzy inference system q p fuzzy rules are required, such as in [11,12] a fuzzy inference system has been designed where there are 12 input variables and for each variable five MFs are allocated. Hence, the entire number of rules obligatory to completely implement the system are 5 12 .…”

mentioning

confidence: 99%

Water Supply Pipeline Risk Index Assessment Based on Cohesive Hierarchical Fuzzy Inference System

et al. 2019

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As populations grow, facilities such as roads, bridges, railways lines, commercial and residential buildings, etc., must be expanded and maintained. There are extensive networks of underground facilities to fulfil the demand, such as water supply pipelines, sewage pipelines, metro structures, etc. Hence, a method to regularly assesses the risk of the underground facility failures is needed to decrease the chance of accidental loss of service or accidents that endanger people and facilities. In the proposed work, a cohesive hierarchical fuzzy inference system (CHFIS) was developed. A novel method is proposed for membership function (MF) determination called the heuristic based membership functions determination (HBMFD) method to determine an appropriate MF set for each fuzzy logic method in CHFIS. The proposed model was developed to decrease the number of rules for the full structure fuzzy inference system with all rule implementation. Four very crucial parameters were considered in the proposed work that are inputs to the proposed CHFIS model in order to calculate the risk of water supply pipelines. In order to fully implement the proposed CHFIS just 85 rules are needed while using the traditional Mamdani fuzzy inference system, 900 rules are required. The novel method greatly reduces implementation time and rule design sets that are extremely time consuming to develop and difficult to maintain.Processes 2019, 7, 182 2 of 15 different methods in order to assess water supply pipelines. An efficient risk assessment methodology is fundamental to take measures in time to escape from accidents.Recently, the fuzzy logic (FL) method has grasped the consideration of various scholars and has been widely used in several areas for different purposes [9,10]. Fuzzy logic methods have been extensively used for risk index analysis and assessment. Fuzzy inference system (FIS) can be used to solve the problems related to the exact mathematical models. However, conventional fuzzy inference systems are not suitable due to its rules-explosion with every new entry of variables. For a fuzzy model having q input parameters, for each input parameters p MFs are defined. Then, for a full fuzzy inference system q p fuzzy rules are required, such as in [11,12] a fuzzy inference system has been designed where there are 12 input variables and for each variable five MFs are allocated. Hence, the entire number of rules obligatory to completely implement the system are 5 12 . It is particularly difficult for an expert to incorporate that large number of rules with attention. Any abnormality in rule designing can cause casualties of people, wastage of money or both losses. Hence, the minimization of rules in rule-base is an issue of high concern. To overcome the issue of rule-explosion, a solution is to divide the fuzzy inference system in sub-modules in a hierarchical form. In this hierarchical fuzzy logic method, the low-level modules provide fractional solutions; these fractional solutions are then combined in the high-level modules to provide...

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Robust Optimal Control of Quadrotor UAVs

Cited by 88 publications

References 21 publications

Quasi-stationary state transportation of a hose with quadrotors

Quasi-stationary state transportation of a hose with quadrotors

Harmonic Extended State Observer Based Anti-Swing Attitude Control for Quadrotor with Slung Load

Water Supply Pipeline Risk Index Assessment Based on Cohesive Hierarchical Fuzzy Inference System

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