Trajectory tracking of a class of under-actuated thrust-propelled vehicle with uncertainties and unknown disturbances

Abstract

This paper deals with the problem of designing a controller for a thrust-propelled vehicle which steers the vehicle to track a 3D spatial path, while effective compensation for both time-varying disturbances and uncertainties is achieved as well. Taking advantage of extraction algorithm, we separate the design for the translational and rotational dynamics. A back-stepping-based controller and a sliding mode controller are, respectively, designed for the translational and rotational dynamics in succession. The stability of the control framework is established through Lyapunov analysis. A numerical simulation is also included in the paper to render the effectiveness of the proposed control scheme.

Error-based control systems on Riemannian state manifolds: Properties of the principal pushforward map associated to parallel transport

“…A large corpus of linear and non-linear system dynamics theory is based on the evaluation of an error figure, as as in tracking systems, where the error measures the discrepancy between the actual system state and its predicted value [18,33], in leader/follower system synchronization, where the error measures the deviation between the state of the leader and the state of the follower [19,20], in system state observation, where the error quantifies the m Figure 1. A mass-spring-damper system disagreement between the actual state of the observed system and the estimated state by an observer [10,17,30], and in system control/regulation, where the error measures the incongruity between the actual state of a system and its desired value (or set point) and provides a feedback information to the controller.…”

Unified Accurate Attitude Control for Dual-Tiltrotor UAV with Cyclic Pitch Using Actuator Dynamics Compensated LADRC

“…A tiltrotor unmanned aerial vehicle (UAV) utilizes tiltable rotors to change the direction of the thrust for high-speed cruise and vertical takeoff and landing. It is an important category of vertical takeoff and landing (VTOL) UAVs that has gained fast-growing popularity in both academia and industry [1][2][3][4][5][6]. According to the number of rotors, tiltrotor UAVs can be divided into two categories, dual-tiltrotor UAVs and multi-tiltrotor UAVs [7].…”

Robust formation control of thrust-propelled vehicles under deterministic and stochastic topology

“…However, when the position is involved, the problem becomes more challenging due to the under-actuated nature of the translational dynamics. As a remedy to this difficulty, several classes of controllers have been undertaken to control the position of a single TPV such as back-stepping procedure (Cabecinhas, Cunha, & Silvestre, 2014), extraction method (Abdessameud & Tayebi, 2013;Kabiri, Atrianfar, & Menhaj, 2017b;Roberts & Tayebi, 2011;, hybrid control theory (Casau, Sanfelice, Cunha, Cabecinhas, & Silvestre, 2015), sliding mode control (Xu & Özgüner, 2008) and singular perturbation theory (Bertrand, Guénard, Hamel, Piet-Lahanier, & Eck, 2011).…”

“…Involving the problem of variations of the network topology, time-varying disturbances and uncertainties for underactuated systems are critical, especially in 3-D space. For example, using relative position in control input results in a discontinuous controller, which renders the results reported in Lee (2012) and Kabiri et al (2017b) nonextendable to the switching topology case; the approaches used in Abdessameud and Tayebi (2011), Abdessameud et al (2015) and Kabiri et al (2018) depend on the exact value of the mass and inertia matrix of the vehicle; the effect of disturbance in Kabiri et al (2018) is counteracted by exploiting the zero derivatives of disturbances. In Kabiri et al (2017a), the problem of stationary formation control for a group of TPVs was proposed in the presence of a pair of time-varying disturbances.…”