Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi, M.; Mirzaei, Hamidreza

doi:10.1590/1679-78253595

Cited by 37 publications

(19 citation statements)

References 43 publications

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“…For this purpose, a robust adaptive controller was developed by a Lyapunov-like energy function (Islam et al, 2015). A robust optimal adaptive trajectory tracking control was designed for a quadrotor helicopter (Navabi and Mirzaei, (2016), Navabi and Mirzaei, (2017)). A composite nonlinear robust controller scheme, variable structure control and backstepping approach has been developed for the position and yaw angle of a quadrotor (Chen et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Nonlinear H∞ control scheme for a flying robot

Razmavar

Talebi

Abdollahi

2019

Lat. Am. j. solids struct.

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In this paper, a nonlinear H∞ state feedback control is designed for both orientation and altitude of a flying robot system in the presence of external disturbance. An analytical solution is proposed for Hamilton-Jacobi-Isaac (HJI) equation. According to the quadrotor's orientation and altitude, a suitable storage function is considered and the appropriate robust control law is derived. The controller coefficients are tuned from Hamilton-Isaac-Jacobi inequality. The closed-loop nonlinear system with the proposed controller has L2-gain less than or equal to γ, and guarantee its asymptotic stability closed-loop nonlinear system with external disturbance. Simulations are provided with the model uncertainties and external disturbance to verify the robustness of the proposed controller. Simulation results confirm the effectiveness of the desired robust controller.

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Section: Introductionmentioning

confidence: 99%

Nonlinear H∞ control scheme for a flying robot

Razmavar

Talebi

Abdollahi

2019

Lat. Am. j. solids struct.

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“…For instance, in the field of economics, stochastic dominance has been introduced Hadar and Russell 1969, Bawa 1975, Bawa and Goroff 1983 and is widely exploited in Economics, Finance and Social Sciences see, for instance, a few among many works: Ji and Lejeune 2018, Light 2018, Yager 2018 . Another approach often found in the literature concerns the determination of robust solutions, id est, solutions remaining stable for a given range or known scenarios of perturbation see, for instance, a few among many works: Navabi and Mirzaei 2017, Bachur et al 2017, Xidonas et al 2017, Moreira et al 2016 .…”

Section: Introductionmentioning

confidence: 99%

Statistics of the Pareto front in Multi-objective Optimization under Uncertainties

Bassi

Cursi²,

Pagnacco³

et al. 2018

Lat. Am. j. solids struct.

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In this paper we address an innovative approach to determine the mean and a confidence interval for a set of objects analogous to curves and surfaces. The approach is based on the determination of the most representative member of the family by minimizing a Hausdorff distance. This method is applied to the analysis of uncertain Pareto frontiers in multi-objective optimization MOO. The determination of the Pareto front of deterministic MOO is carried by minimizing the hypervolume contained between the front and the utopia point. We give some examples and we apply the approach to a truss-like structure for which conflicting objective functions such as the structure mass and the maximum displacement are both to be minimized.

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“…A sparse recovery algorithm is applied to reconstruct online the cyber-attacks in [18]. Sliding mode control with advantages of quick response and strong robustness is one of the best approaches to control CPS [19][20][21][22]. In [23], a finite-time convergent higher-order sliding mode (HOSM) observer, based on a HOSM differentiator and a sparse recovery algorithm, are used to reconstruct online the cyber-attack in a nonlinear system.…”

mentioning

confidence: 99%

Secure State Estimation and Attack Reconstruction in Cyber-Physical Systems: Sliding Mode Observer Approach

Nateghi¹,

Shtessel²,

Edwards³

et al. 2019

Control Theory in Engineering [Working Title]

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A cyber-physical system (CPS) is a tight coupling of computational resources, network communication, and physical processes. They are composed of a set of networked components, including sensors, actuators, control processing units, and communication agents that instrument the physical world to make "smarter." However, cyber components are also the source of new, unprecedented vulnerabilities to malicious attacks. In order to protect a CPS from attacks, three security levels of protection, detection, and identification are considered. In this chapter, we will discuss the identification level, i.e., secure state estimation and attack reconstruction of CPS with corrupted states and measurements. Considering different attack plans that may assault the states, sensors, or both of them, different online attack reconstruction approaches are discussed. Fixed-gain and adaptive-gain finite-time convergent observation algorithms, specifically sliding mode observers, are applied to online reconstruction of sensor and state attacks. Next, the corrupted measurements and states are to be cleaned up online in order to stop the attack propagation to the CPS via the control signal. The proposed methodologies are applied to an electric power network, whose states and sensors are under attack. Simulation results illustrate the efficacy of the proposed observers.Keywords: cyber-physical systems, sensor attack, state attack, sliding mode observers Recent real-world cyber-attacks, including multiple power blackouts in Brazil [3], and the Stuxnet attack [4] in 2010, showed the importance of providing security to CPSs. Identification and modeling process as [5,6] which are based on data can be seriously affected by corrupted data. As a result, information security techniques [7] may be not sufficient for protecting systems from sophisticated cyberattacks. It is suggested in [8] that information security mechanisms have to be complemented by specially designed resilient control systems. Controlling CPS with sensors and actuators, who are hijacked/corrupted remotely or physically by the attackers, is a challenge. The use of novel control/observation algorithms is proposed in this chapter for recovering CPS performance online if an attacker penetrates the information security mechanisms.Cyber security of CPS must provide three main security goals: availability, confidentiality, and integrity [7]. This means that the CPS is to be accessible and usable upon demand, the information has to be kept secret from unauthorized users, and the trustworthiness of data has to be guaranteed. Lack of availability, confidentiality, and integrity yields denial of service, disclosure, and deception, respectively. A specific kind of deception attack called a replay attack has been investigated when the system model is unknown to the attackers but they have access to the all sensors [9,10]. Replay attacks are carried out by "hijacking" the sensors, recording the readings for a certain time, and repeating such readings while injecting them together with an exo...

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Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Cited by 37 publications

References 43 publications

Nonlinear H∞ control scheme for a flying robot

Nonlinear H∞ control scheme for a flying robot

Statistics of the Pareto front in Multi-objective Optimization under Uncertainties

Secure State Estimation and Attack Reconstruction in Cyber-Physical Systems: Sliding Mode Observer Approach

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