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1 – 10 of 222Mohd Ariffanan Mohd Basri, Abdul Rashid Husain and Kumeresan A. Danapalasingam
The purpose of this paper is to propose a new approach for robust control of an autonomous quadrotor unmanned aerial vehicle (UAV) in automatic take-off, hovering and landing…
Abstract
Purpose
The purpose of this paper is to propose a new approach for robust control of an autonomous quadrotor unmanned aerial vehicle (UAV) in automatic take-off, hovering and landing mission and also to improve the stabilizing performance of the quadrotor with inherent time-varying disturbance.
Design/methodology/approach
First, the dynamic model of the aerial vehicle is mathematically formulated. Then, a combination of a nonlinear backstepping scheme with the intelligent fuzzy system as a new key idea to generate a robust controller is designed for the stabilization and altitude tracking of the vehicle. For the problem of determining the backstepping control parameters, a new heuristic algorithm, namely, Gravitational Search Algorithm has been used.
Findings
The control law design utilizes the backstepping control methodology that uses Lyapunov function which can guarantee the stability of the nominal model system, whereas the intelligent system is used as a compensator to attenuate the effects caused by external disturbances. Simulation results demonstrate that the proposed control scheme can achieve favorable control performances for automatic take-off, hovering and landing mission of quadrotor UAV even in the presence of unknown perturbations.
Originality/value
This paper propose a new robust control design approach which incorporates the backstepping control with fuzzy system for quadrotor UAV with inherent time-varying disturbance. The originality of this work relies on the technique to compensate the disturbances acting on the quadrotor UAV. In this new approach, the fuzzy system is introduced as an auxiliary control effort to compensate the effect of disturbances. Because the proposed control technique has the capability of robustness against disturbance, thus, it is also suitable to be applied for a broad class of uncertain nonlinear systems.
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Taki Eddine Lechekhab, Stojadin Manojlovic, Momir Stankovic, Rafal Madonski and Slobodan Simic
The control of a quadrotor unmanned aerial vehicle (UAV) is a challenging problem because of its highly nonlinear dynamics, under-actuated nature and strong cross-couplings. To…
Abstract
Purpose
The control of a quadrotor unmanned aerial vehicle (UAV) is a challenging problem because of its highly nonlinear dynamics, under-actuated nature and strong cross-couplings. To solve this problem, this paper aims to propose a robust control strategy, based on a concept of active disturbance rejection control (ADRC).
Design/methodology/approach
The altitude/attitude dynamics of a quadrotor is reformulated into the ADRC framework. Three distinct variations of the error-based ADRC algorithms, with different structures of generalized extended state observers (GESO), are derived for the altitude/attitude trajectory-following task. The convergence of the observation part is proved based on the singular perturbation theory. Through a frequency analysis and a quantitative comparison in a simulated environment, each design is shown to have certain advantages and disadvantages in terms of tracking accuracy and robustness. The digital prototypes of the proposed controllers for quadrotor altitude and attitude control channels are designed and validated through real-time hardware-in-the-loop (HIL) co-simulation, with field-programmable gate array (FPGA) hardware.
Findings
The effects of unavailable reference time-derivatives can be estimated by the ESO and rejected through the outer control loop. The higher order ESOs demonstrate better performances, but with reductions of stability margins. Time-domain simulation analysis reveals the benefits of the proposed control structure related to classical control approach. Real-time FPGA-based HIL co-simulations validated the performances of the considered digital controllers in typical quadrotor flight scenarios.
Practical implications
The conducted study forms a set of practical guidelines for end-users for selecting specific ADRC design for quadrotor control depending on the given control objective and work conditions. Furthermore, the paper presents detailed procedure for the design, simulation and validation of the embedded FPGA-based quadrotor control unit.
Originality/value
In light of the currently available literature on error-based ADRC, a comprehensive approach is applied here, which includes the design of error-based ADRC with different GESOs, its frequency-domain and time-domain analyses using different simulation of UAV flight scenarios, as well as its FPGA-based implementation and testing on the real hardware.
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Xu Zou, Zhenbao Liu, HongGang Gao and Wen Zhao
This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads.
Abstract
Purpose
This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads.
Design/methodology/approach
In the field of unmanned aerial vehicle (UAV) control, external environmental disturbance and internal variable payloads as two major interference factors lead to control performance degradation or even instability, thus a trajectory tracking controller which innovatively combines sliding mode control technology and model-free control technique is proposed. The proposed controller is constructed with a learning rate-based sliding mode controller and an ultra-local model. Based on the proposed controller, the nonlinear system model of variable load quadrotor is locally estimated and the system’s uncertainties and disturbances can be compensated.
Findings
The simulation and actual test results demonstrate the satisfactory control performance and the robustness of the proposed controller compared with the PID and Backstepping controller under external environmental disturbance and variable payloads. Moreover, the proposed controller solves the trajectory tracking control problem not only when payloads change at the center of gravity but also when the position of load variation deviates from the center of gravity.
Practical implications
In both military and civilian domains, the quadrotor may encounter such situations that the payloads change, such as transporting goods, aerial refueling and so on. As a large internal interference factor, variable load tends to lead to unstable control. The research results provide theoretical guidance and technical support for trajectory tracking control of quadrotor under variable payloads.
Originality/value
The proposed controller combines learning rate-based sliding mode controller and model-free control technique to achieve a more efficient and accurate trajectory control of the quadrotor when considering system uncertainties and the load variation that happens in the unknown location.
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Hüseyin Şahin, Oguz Kose and Tugrul Oktay
This study aims to optimize autonomous performance (i.e. both longitudinal and lateral) and endurance of the quadrotor type aerial vehicle simultaneously depending on the…
Abstract
Purpose
This study aims to optimize autonomous performance (i.e. both longitudinal and lateral) and endurance of the quadrotor type aerial vehicle simultaneously depending on the autopilot gain coefficients and battery weight.
Design/methodology/approach
Quadrotor design processes are critical to performance. Unmanned aerial vehicle durability is an important performance parameter. One of the factors affecting durability is the battery. Battery weight, energy capacity and discharge rate are important design parameters of the battery. In this study, proper autopilot gain coefficients and battery weight are obtained by using a stochastic optimization method named as simultaneous perturbation stochastic approximation (SPSA). Because there is no direct correlation between battery weight and battery energy density, artificial neural network (ANN) is benefited to obtain battery energy density corresponding to resulted battery weight found from SPSA algorithm. By using the SPSA algorithm optimum performance index is obtained, then obtained data is used for longitudinal and lateral autonomous flight simulations.
Findings
With SPSA, the best proportional integrator and derivative (PID) coefficients and battery weight, energy efficiency and endurance were obtained in case of morphing.
Research limitations/implications
It takes a long time to find the most suitable battery values depending on quadrotor endurance. However, this situation can be overcome with the proposed SPSA.
Practical implications
It is very useful to determine quadrotor endurance, PID coefficients and morphing rate using the optimization method.
Social implications
Determining quadrotor endurance, PID coefficients and morphing rate using the optimization method provides advantages in terms of time, cost and practicality.
Originality/value
The proposed method improves quadrotor endurance. In addition, with the SPSA optimization method and ANN, the parameters required for endurance will be obtained faster and more securely. In addition, the energy density according to the battery weight also contributes to the clean environment and energy efficiency.
Mati Ullah, Chunhui Zhao and Hamid Maqsood
The purpose of this paper is to design a hybrid robust tracking controller based on an improved radial basis function artificial neural network (IRBFANN) and a novel…
Abstract
Purpose
The purpose of this paper is to design a hybrid robust tracking controller based on an improved radial basis function artificial neural network (IRBFANN) and a novel extended-state observer for a quadrotor system with various model and parametric uncertainties and external disturbances to enhance the resiliency of the control system.
Design/methodology/approach
An IRBFANN is introduced as an adaptive compensator tool for model and parametric uncertainties in the control algorithm of non-singular rapid terminal sliding-mode control (NRTSMC). An exact-time extended state observer (ETESO) augmented with NRTSMC is designed to estimate the unknown exogenous disturbances and ensure fast states convergence while overcoming the singularity issue. The novelty of this work lies in the online updating of weight parameters of the RBFANN algorithm by using a new idea of incorporating an exponential sliding-mode effect, which makes a remarkable effort to make the control protocol adaptive to uncertain model parameters. A comparison of the proposed scheme with other conventional schemes shows its much better performance in the presence of parametric uncertainties and exogenous disturbances.
Findings
The investigated control strategy presents a robust adaptive law based on IRBFANN with a fast convergence rate and improved estimation accuracy via a novel ETESO.
Practical implications
To enhance the safety level and ensure stable flight operations by the quadrotor in the presence of high-order complex disturbances and uncertain environments, it is imperative to devise a robust control law.
Originality/value
A new idea of incorporating an exponential sliding-mode effect instead of conventional approaches in the algorithm of the RBFANN is used, which makes the control law resistant to model and parametric uncertainties. The ETESO provides rapid and accurate disturbance estimation results and updates the control law to overcome the performance degradation caused by the disturbances. Simulation results depict the effectiveness of the proposed control strategy.
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Yanjie Chen, Weiwei Zhan, Yibin Huang, Zhiqiang Miao and Yaonan Wang
This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks.
Abstract
Purpose
This paper aims to investigate the distributed formation control problem for a multi-quadrotor unmanned aerial vehicle system without linear velocity feedbacks.
Design/methodology/approach
A nonlinear controller is proposed based on the orthogonal group SE(3) to obviate singularities and ambiguities of the traditional parameterized attitude representations. A cascade structure is applied in the distributed controller design. The inner loop is responsible for attitude control, and the outer loop is responsible for translational dynamics. To ensure a linear-velocity-free characteristic, some auxiliary variables are introduced to construct virtual signals in distributed controller design. The stability analysis of the proposed distributed control method by the Lyapunov function is provided as well.
Findings
A group of four quadrotors with constant reference linear velocity and a group of six quadrotors with varying reference linear velocity are adopted to verify the effectiveness of the proposed strategy.
Originality/value
This is a new innovation for multi-robot formation control method to improve assembly automation.
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Aws Abdulsalam Najm, Ibraheem Kasim Ibraheem, Amjad J. Humaidi and Ahmad Taher Azar
The hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree…
Abstract
Purpose
The hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.
Design/methodology/approach
IADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.
Findings
Different tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.
Originality/value
The study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.
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JeongHwan Kim, Steven Aurecianus, Seonglok Nam, Jungkeun Park and Taesam Kang
The purpose of this paper is to introduce a low-cost quadrotor that can be used for educational purposes and investigate the applicability of a low-cost MEMS laser sensor for…
Abstract
Purpose
The purpose of this paper is to introduce a low-cost quadrotor that can be used for educational purposes and investigate the applicability of a low-cost MEMS laser sensor for accurate altitude control.
Design/methodology/approach
A single printed circuit board is designed to form the structure of the quadrotor. A low-cost MEMS motion sensor, a microcontroller and four small motors are mounted on the board. A separate laser sensor module measures the altitude. A remote controller is designed to control the quadrotor’s motion. The remote controller communicates with the quadrotor via wireless connection. Roll and pitch attitude stabilization is achieved using the proportional and derivative control algorithm. The applicability of an MEMS laser sensor for altitude control is also studied.
Findings
The low-cost quadrotor works well even though its body structure is made using a printed circuit board. Low pass and Kalman filters work well for attitude estimation and control application. The laser sensor is very accurate and good for altitude feedback; however, it has a relatively short measurement range and its sampling rate is relatively slow, which limits its applications. The vertical velocity obtained by differentiating the laser altitude has delay and inhibits suitable damping. Using the vertical velocity obtained by integrating the vertical accelerometer’s output, the damping performance is improved.
Originality/value
Developing a low-cost quadrotor that can be used for educational purposes and successfully implementing altitude control using a laser sensor and accelerometer.
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Muharrem Selim Can and Hamdi Ercan
This study aims to develop a quadrotor with a robust control system against weight variations. A Proportional-Integral-Derivative (PID) controller based on Particle Swarm…
Abstract
Purpose
This study aims to develop a quadrotor with a robust control system against weight variations. A Proportional-Integral-Derivative (PID) controller based on Particle Swarm Optimization and Differential Evaluation to tune the parameters of PID has been implemented with real-time simulations of the quadrotor.
Design/methodology/approach
The optimization algorithms are combined with the PID control mechanism of the quadrotor to increase the performance of the trajectory tracking for a quadrotor. The dynamical model of the quadrotor is derived by using Newton-Euler equations.
Findings
In this study, the most efficient control parameters of the quadrotor are selected using evolutionary optimization algorithms in real-time simulations. The control parameters of PID directly affect the controller’s performance that position error and stability improved by tuning the parameters. Therefore, the optimization algorithms can be used to improve the trajectory tracking performance of the quadrotor.
Practical implications
The online optimization result showed that evolutionary algorithms improve the performance of the trajectory tracking of the quadrotor.
Originality/value
This study states the design of an optimized controller compared with manually tuned controller methods. Fitness functions are defined as a custom fitness function (overshoot, rise-time, settling-time and steady-state error), mean-square-error, root-mean-square-error and sum-square-error. In addition, all the simulations are performed based on a realistic simulation environment. Furthermore, the optimization process of the parameters is implemented in real-time that the proposed controller searches better parameters with real-time simulations and finds the optimal parameter online.
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Deepak B B V L and Pritpal Singh
In the previous decade, unmanned aerial vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different…
Abstract
Purpose
In the previous decade, unmanned aerial vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different regions going from military applications to activity reconnaissance. The purpose of this paper is to overview a particular sort of UAV called quadrotor or quadcopter.
Design/methodology/approach
This paper includes the dynamic models of a quadrotor and the distinctive model-reliant and model-autonomous control systems and their correlation.
Findings
In the present time, focus has moved to outlining autonomous quadrotors. Ultimately, the paper examines the potential applications of quadrotors and their part in multi-operators frameworks.
Originality/value
This investigation deals with the review on various quadrotors, their applications and motion control strategies.
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