A Multi-Time-Scale Finite Time Controller for the Quadrotor UAVs with Uncertainties

Zhou, Zhen; Wang, Hongbin; Hu, Zhongquan; Wang, Yueling

doi:10.1007/s10846-018-0837-1

Cited by 13 publications

(6 citation statements)

References 32 publications

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“…For research use, QDrone from Quanser company is a high-performance quadcopter monitoring device. It is suitable for a wide range of research applications and is able to test new control strategies due to its several desirable features, such as light weight, high maneuverability, and little downtime for maintenance [212]. It is equipped with avionics data acquisition, 3-axis accelerometer, 3-axis gyroscope, sonar height sensor, and high-resolution cameras.…”

Section: Other Related Developmentsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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Section: Other Related Developmentsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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“…Consider attitude control system (4) under the Assumptions 1-3. Then controller (31) associated with the virtual control signal (18) and adaptive law (33) will ensure the following conclusions hold. 1).…”

Section: B Stability Analysis Of Attitude Systemmentioning

confidence: 99%

“…By using cascade sliding mode control technique, a finitetime trajectory tracking controller is developed for quadrotor aircrafts in [17]. The robust finite-time attitude tracking control is discussed in [18] by using a non-singular terminal sliding mode approach. A non-overestimation adaptive multivariable controller is given in [19], which is helpful to reduce chattering caused by sliding mode.…”

Section: Introductionmentioning

confidence: 99%

Fixed-TimeBackstepping Control of Quadrotor Trajectory Tracking Based On Neural Network

Wang

Chen

2020

IEEE Access

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This paper aims at the trajectory tracking of a quadrotor. A novel fixed-time backstepping control design scheme is proposed for the quadrotor based on adaptive neural control approach. The suggested adaptive controller ensures that the quadrotor well tracks the desired trajectory in finite time in spite of appearance of model uncertainties. Finally, simulation results are given to verify the effectiveness of the proposed control strategy.

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“…Concerning quadrotors, a known platform in the research area is the Quanser QBall 2. This platform has been used in recent works [36]- [41] due to its programming simplicity, which is developed in MATLAB-Simulink. Another valuable point at its favor is the integration with the motion capture system Optitrack to sense its position.…”

Section: Introductionmentioning

confidence: 99%

“…It is worthwhile to notice that the given procedure is general and can be applied to quadrotors having access to the same signals used in the method. As mentioned earlier, this experimental quadrotor has been used in recent research [36]- [41], and a new set of parameters with better accuracy may improve the performance of the reported model-based control schemes.…”

Section: Introductionmentioning

confidence: 99%

Experimental Parameter Identifications of a Quadrotor by Using an Optimized Trajectory

et al. 2020

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In this document, the parameter identification of a quadrotor is discussed. More precisely, the aim of this paper is to present results on the application of known methods for estimating the dynamic parameters that capture better the behavior of a quadrotor in comparison with the nominal parameters given by the manufacturer. To take into account the limitations of position, velocity, and acceleration of the quadrotor, an optimized trajectory to excite the quadrotor dynamics adequately is obtained. A proportionalintegral-derivative (PID) control scheme is used to implement experimentally the tracking of the optimized trajectory. The obtained data is processed off-line to construct the standard and filtered regression models from which the parameter identification is achieved. Specifically, the least-squares and gradient descent algorithms are applied to the regression models giving four sets of estimated parameters. The four sets of parameters obtained in this work are compared with the parameters provided by the manufacturer by computing the error between simulations and experiments. In addition, the output prediction errors of the regression models are computed, thus providing another validation form. All the comparisons show that the estimated parameters are more precise than the nominal ones. The given results support the functionality of the described methodology.INDEX TERMS Optimized trajectory, parameter identification, quadrotor, real-time experiments, regression model.

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A Multi-Time-Scale Finite Time Controller for the Quadrotor UAVs with Uncertainties

Cited by 13 publications

References 32 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Fixed-TimeBackstepping Control of Quadrotor Trajectory Tracking Based On Neural Network

Experimental Parameter Identifications of a Quadrotor by Using an Optimized Trajectory

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