A hybrid robust adaptive control for a quadrotor UAV via mass observer and robust controller

Zhou, Laihong; Xu, Shunjian; Jin, Hong; Jian, Huihua

doi:10.1177/16878140211002723

Cited by 14 publications

(13 citation statements)

References 24 publications

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“…For example, a two closed-loop control framework is proposed by Yang et al [33] in which ADRC (Active Disturbance Rejection Control) for the inner loop and PD (Proportional-Derivative) controller for the outer loop are used. Lungu et al [34] offered a combination of BSC and dynamic inversion control method for the auto landing of fixed-wing UAVs, while Zhou et al [35] proposed a hybrid adaptive controller that contains a mass observer and robust controller for the quadrotor UAV. Different adaptive control strategies with observers are developed to adapt to the change in a parameter of the underacted system.…”

Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

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A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the biplane quadrotor. Extended state observer (ESO) is designed for the state estimation, and based on this estimation, a Backstepping controller (BSC), Integral Terminal Sliding Mode Controller (ITSMC), and Hybrid Controller (HC) that is a combination of ITSMC + BSC are designed for the trajectory tracking. Further, a Nonlinear disturbance observer (DO) is designed and combined with ESO based controller to estimate external disturbances. In this simulation study, These ESO-based controllers with and without DO are applied for trajectory tracking, and results are evaluated. An ESO-based Adaptive Backstepping Controller (ABSC) and Adaptive Hybrid controller (AHC) with DO are designed, and performance is evaluated to handle the mass change during the flight despite wind gusts. Simulation results reveal the effectiveness of ESO-based HC with DO compared to ESO-based BSC and ITSMC with DO. Furthermore, an ESO-based AHC with DO is more efficient than an ESO-based ABSC with DO.

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Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

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“…Meanwhile, a group of unknown input decoupling function observers (UIDFOs) are designed in the diagnosis system to ensure that the unknown input can be estimated quickly and accurately. Zhou et al (2021) designed a mass observer based on adaptive control theory to estimate the real-time mass and correct the mass parameter of the UAVs. Meanwhile, the hybrid robust adaptive controller is combined with the observer to ensure the robustness of the UAVs against slow-varying quality and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Fault detection based on extended state observer and interval observer for UAVs

Cao

Wang

et al. 2022

AEAT

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Purpose The purpose of this paper is to present an actuator fault detection method for unmanned aerial vehicles (UAVs) based on interval observer and extended state observer. Design/methodology/approach The proposed algorithm has very little model dependency. Therefore, a six-degree-of-freedom linear equation of UAVs is first established, and then, combined with actuator failure and external disturbances in flight control, a steering gear model with actuator failure (such as stuck bias and invalidation) is designed. Meanwhile, an extended state observer is designed for fault detection. Moreover, a fault detection scheme based on interval observer is designed by combining fault and disturbances. Findings The method is testified on the extended state observer and the interval observer under the failure of the steering gear and bounded disturbances. The simulation results show that the two types of fault detection schemes designed can successfully detect various types of faults and have high sensitivity. Originality/value This research paper studies the failure detection scheme of the UAVs’ actuator. The fault detection scheme in this paper has better performance on actuator faults and bounded disturbances than using regular fault detection schemes.

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“…Artificial intelligence algorithms such as artificial neural networks, bio-inspired optimization, and fuzzy logic have been also successfully included in motion control design [24][25][26][27]. Additionally, several disturbances observers have been properly reported in [28][29][30][31] for compositing interesting control schemes. Moreover, nonlinear controllers based on sliding modes [32][33][34] and backstepping [35][36][37] approaches have been suitably introduced to deal with disturbances and uncertainties in quadrotor vehicles and, in some studies, further extended for fault tolerant controllers.…”

Section: Introductionmentioning

confidence: 99%

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Beltrán-Carbajal

Yañez-Badillo²,

Tapia‐Olvera

et al. 2022

Mathematics

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Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

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A hybrid robust adaptive control for a quadrotor UAV via mass observer and robust controller

Cited by 14 publications

References 24 publications

Dual Observer Based Adaptive Controller for Hybrid Drones

Dual Observer Based Adaptive Controller for Hybrid Drones

Fault detection based on extended state observer and interval observer for UAVs

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

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