A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection

Cabecinhas, David; Cunha, Rita; Silvestre, Carlos

doi:10.1109/tcst.2014.2326820

Cited by 112 publications

(52 citation statements)

References 17 publications

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“…The proposed method directly addresses robustness of backstepping control. This emphasis on robustness of backstepping is also seen in recent work . To clarify the contribution of the proposed method to the literature, we survey this work here.…”

Section: Introductionmentioning

confidence: 90%

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Disturbance observer‐based nonlinear control of a quadrotor UAV

2020

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This paper proposes a nonlinear backstepping‐based trajectory tracking control for a quadrotor unmanned aerial vehicle. By incorporating a disturbance observer, the method provides globally exponentially stable tracking error dynamics in the presence of constant force and torque disturbances for position tracking. For time‐varying disturbances, the tracking error is proven to be ultimately bounded. Simulation results illustrates the robust performance and reduced complexity of the proposed control law.

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Section: Introductionmentioning

confidence: 90%

“…The combination of the projection operator, overparameterization, and saturation functions contributes to the complexity of the design. The work by the same authors also takes a backstepping approach that relies on overparameterization. A saturated control and timing law are used to ensure bounded thrust in a path following problem.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer‐based nonlinear control of a quadrotor UAV

2020

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“…The aerodynamic force effect, F ext , applied at CP is the addition of two disturbance forces: (i) the frictional drag force F drag and (ii) the tangential ram‐drag force F ram , which forms with the axial thrust force the equal and opposite resultant force required to change the momentum of the airflow, as shown in Figure . The model of the disturbance applied is given by

\begin{matrix} alignleft \\ align-1 F_{ext} & align-2 = F_{drag} + F_{ram} \\ align-1 F_{drag} & align-2 = ‖ v_{ω} - v ‖ R^{T} C_{d} R (v_{ω} - v) \\ align-1 F_{ram} & align-2 = \sqrt{\frac{T ρ A}{2}} R^{T} I_{x y} R (v_{ω} - v), \end{matrix}

where v ω = [ −1 −1 0] T is a constant and unknown wind velocity . The parameter ρ = 1.2 kg/m 3 represents the air density, A = 0.114 m 2 represents the duct cross‐section area, and

C_{d} \in double-struckR

is a matrix that consists of the system‐dependent aerodynamic constant expressed in the body‐fixed frame, which is chosen to be C d =diag[0.1,0.1, 0.05] kg/m.…”

Section: Simulationsmentioning

confidence: 99%

Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Benrezki

Tayebi

Tadjine

2018

Intl J Robust & Nonlinear

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Summary This paper proposes an adaptive controller for the trajectory tracking problem of vertical take‐off and landing unmanned aerial vehicles with unknown inertia and gyro‐bias, in the presence of external disturbances and actuator loss of effectiveness. To achieve our control objective, first, an a priori bounded virtual control law, providing an a priori bounded thrust and desired attitude, is designed for the translational dynamics. Thereafter, the torque input is designed for the rotational dynamics to track the desired orientation derived in the first stage. The stability of the overall hierarchical closed‐loop system and the global convergence of the tracking errors to zero are rigorously established. Finally, numerical simulations are performed to validate the effectiveness of the proposed control scheme.

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“…Robust disturbance rejection control is presented in [11,12] including an experimental validation on a quadrotor test bed. A quadrotor robust tracking controller is proposed in [13] with respect to the unmodelled dynamics which provides rejection of disturbances, for the purpose of solving the trajectory tracking problem.…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Kotarski

Piljek

Brezak

et al. 2018

TFAMENA

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SummaryIn this paper, a control allocation scheme is presented for a multirotor type of an Unmanned Aerial Vehicle (UAV). The control allocation scheme depends on the multirotor configuration and rotor system parameters, and it enables analysis of dynamics of different multirotor designs depending on the purpose and the task which the multirotor has to carry out. The analysis of force and moment distribution in space shows that the non-flat design with passively tilted rotors can overcome an inherent underactuated condition of flat multirotor configurations. By increasing the tilt angle, the multirotor is able to achieve full controllability over its six degrees of freedom (6 DOFs). A robust chattering-free sliding mode asymptotic tracking control design of a fully actuated multirotor is presented. The simulation results show satisfying tracking performance of the proposed controller.

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A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection

Cited by 112 publications

References 17 publications

Disturbance observer‐based nonlinear control of a quadrotor UAV

Disturbance observer‐based nonlinear control of a quadrotor UAV

Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

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