The control of the hovercraft system: a flatness based approach

Sira‐Ramírez, Hebertt; Ibáñez, Carlos Aguilar

doi:10.1109/cca.2000.897513

Cited by 23 publications

(7 citation statements)

References 9 publications

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“…This controller was validated experimentally on a robot called MVWT (the Caltech Multi-Vehicle Wireless Testbed) [10] and [5]. Other methods are used like in [17] where the flat property of the hovercraft model is proved. Nonetheless it appears that some singularities of the control law have to be avoided.…”

Section: Introductionmentioning

confidence: 99%

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Practical identification and flatness based control of a terrestrial quadrotor

Thorel

d’Andréa-Novel

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Nowadays a great interest focuses on UAV and particularly on quadrotor platforms. Its mechanical simplicity and stability in flight has contributed to its commercial success. However the energy consumption remains a major technological limitation and its usual flight autonomy is only 15 to 20 minutes. More and more platforms deriving from that concept come out. For example terrestrial quadrotors have already appeared on the market. They can move on the ground to save energy and fly to avoid obstacles. It is proposed in this paper to study control laws for one particular design of terrestrial quadrotor. A terrestrial dynamic model of the system is first presented and then validated by an identification process relying on results recorded by an experimental platform also described in the present document. In addition, some first experimental results of xy-plane trajectory tracking control laws based on a flatness approach are given and commented.

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Section: Introductionmentioning

confidence: 99%

“…Based on this work, a robust second order sliding mode control is developed in [18]. Trajectory tracking for the terrestrial quadrotor detailed in [19] is made using the flat property of the system just like in [17].…”

Section: Introductionmentioning

confidence: 99%

Practical identification and flatness based control of a terrestrial quadrotor

Thorel

d’Andréa-Novel

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The system model can be explicitly analyzed and designed using flatness property. 30 The flatness property was shown in many nonlinear systems: hovercrafts, 31 helicopters 32 and piezoelectric actuators. 33 Kim et al 28 proposed flatness-based nonlinear control for electro-hydraulic position servo system.…”

Section: Introductionmentioning

confidence: 99%

Flatness-based adaptive nonlinear control for torque tracking of electro-hydraulic friction load simulator with uncertainties

Jing

Jiang

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Electro-hydraulic friction load simulator is able to simulate load for detecting and estimating the actuator system, which requires an ability to track accurately a given signal with high frequency. In this article, a flatness-based adaptive nonlinear controller is proposed for electro-hydraulic friction load simulator with parameter uncertainties to improve torque-tracking performance. The proposed control consists of state feedback, desired input feedforward and adaptive law to yield a stable closed-loop control system. State feedback is designed to stabilize the electro-hydraulic friction load simulator and achieve robustness against disturbances. Desired input feedforward is designed based on flatness property. And, it can enhance bandwidth by model compensation. Furthermore, in order to solve the problem of parameter uncertainty, adaptive law is adopted in this controller. The proposed controller theoretically guarantees asymptotic tracking performance in the absence of parameter uncertainties. High-accuracy tracking performance of the proposed control strategy is verified by experiments.

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“…The controller is designed with expected state variables that are derived from system dynamics model. Controllers of many nonlinear systems were designed based on the flatness property: helicopters (Koo and Sastry, 1999), hovercrafts (Sira-Ramrez and Ibanez, 2000) and piezoelectric actuators (Rodriguez-Fortun et al, 2013). Electrohydraulic servo systems have also been shown to be flat (Kim et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Adaptive extended state observer-based flatness nonlinear output control for torque tracking of electrohydraulic loading system

Jing

Song³

et al. 2017

Transactions of the Institute of Measurement and Control

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Electrohydraulic loading system is a torque servo system with high-accuracy and high-frequency response. In this paper, an adaptive extended state observer-based flatness nonlinear output control is proposed to improve the torque tracking performance of electrohydraulic loading system. This method combines a flatness concept, expected state, adaptive extended state observer and system output to develop a stable control system. Expected input feedforward based on the flatness property is designed to provide model compensation for bandwidth enhancement. An adaptive extended state observer is proposed to estimate the unmeasured states and the unmodeled dynamics. Based on estimated states and disturbances, state feedback control is developed to ensure the stability of closed-loop system, and to improve torque tracking accuracy and system robustness. The stability of the closed-loop system is proved by the Lyapunov stability theory. Extensive experiments were carried out to verify the performance of high-accuracy tracking of the proposed control strategy.

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The control of the hovercraft system: a flatness based approach

Cited by 23 publications

References 9 publications

Practical identification and flatness based control of a terrestrial quadrotor

Practical identification and flatness based control of a terrestrial quadrotor

Flatness-based adaptive nonlinear control for torque tracking of electro-hydraulic friction load simulator with uncertainties

Adaptive extended state observer-based flatness nonlinear output control for torque tracking of electrohydraulic loading system

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