Time-delay control of quadrotor unmanned aerial vehicles: a multiplicity-induced-dominancy-based approach

Abstract

The current work exploits the effects of time-delays on the stability of unmanned aerial vehicles s). In this regard, the main contribution is a symbolic/numeric application of the multiplicity-induced-dominancy property in the control of unmanned aerial vehicles rotorcrafts featuring time-delays. The multiplicity-induced-dominancy property is considered to address two of the most representative aerial robotic platforms: a classical quadrotor vehicle and a quadrotor vehicle endowed with tilting rotors. The aforementioned property leads to an effective delayed feedback control design (multiplicity-induced-dominancy tuning criteria), allowing the system to meet prescribed behavior conditions based on the placement of the rightmost root of the corresponding closed-loop characteristic function/quasipolynomial. Lastly, the results of detailed numerical simulations, including the linear and non-linear dynamics of the vehicle, are presented and discussed to validate the proposal.

A Novel Approach to Proportional-Integral-Retarded Controller Tuning for Second Order Non-Minimum Phase Systems

“…For example, other controllers belonging to this class are represented by delay blocks [7] used to stabilize integrator chains or delayed PD controllers encountered in human balancing stabilization 1 Faculty of Engineering, Universidad Autónoma de San Luis Potosí, 78210, Mexico. Email: emone@ieee.org 2 Institut Polytechnique des Sciences Avancées (IPSA), 94200, Ivry-sur-Seine, France. 3 Université Paris-Saclay, CNRS, CentraleSupélec, Inria, Laboratoire des Signaux et Systèmes, 91190, Gif-sur-Yvette, France.…”

Extending the admissible control-loop delays for the inverted pendulum by fractional-order proportional-derivative controller

“…This relation can be illustrated by stick balancing on the fingertip: human subjects cannot balance short sticks since the corresponding critical delay is smaller than the subject's reaction time, that is, the stick falls faster than one can react (Insperger and Milton, 2021;Stepan, 2009). The concept of critical delay is important in a wide range of control engineering applications with unavoidable feedback delay (Boussaada et al, 2018;Castillo-Zamora et al, 2023;Xu et al, 2017). Finding the critical delay for these feedback systems is a challenging task (Balogh et al, 2022a;Boussaada et al, 2016Boussaada et al, , 2020Molnar et al, 2021;Sieber and Krauskopf, 2005).…”