A novel nonlinear hybrid controller design for an uncertain quadrotor with disturbances

Modirrousta, Alireza; Khodabandeh, Mahdi

doi:10.1016/j.ast.2015.05.022

Cited by 75 publications

(33 citation statements)

References 32 publications

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“…SMC/SMDO is able to observe and compensate for bounded perturbations, as shown in Eqs. (9,10). Even though the SMC/SMDO control input designed by Eq.…”

Section: Ndi-smc/smdomentioning

confidence: 99%

“…Non-cascaded controllers can then be designed analogous to Eqs. (10,19) [24]. Since these two approaches are analogous, and the cascaded control structure is more widely used in aerospace systems, this paper also designs the controllers in a cascaded way.…”

Section: Controller Designmentioning

confidence: 99%

“…In Ref. [4,5,7,9,10,11,12,14], the control input vector is taken as u = [M c , T ] T . This choice is deficient because only the uncertainties of I v can be considered in the controller designs.…”

Section: Controller Designmentioning

confidence: 99%

“…Being invariant (better than just robust) to matched uncertainties [2,3], Sliding Mode Control (SMC) is a promising candidate to fulfill this goal. A variety of SMC methods have been proposed for quadrotors to resist external disturbances and to cope with faults [4,5,6,7,8,9,10,11,12,13,14]. In spite of the varieties in SMC designs, for most SMC algorithms, the required control gains are positively correlated with uncertainty bounds (for first-order SMC), or the bounds of uncertainty derivatives (for higher-order SMC).…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, in this subsection, it is going to be tested whether NDI based SMC/SMDO can passively resist the actuator fault without gain adjustment. Namely, K s = diag([20, 50,20,10]) is used by NDI based controller first, as denoted by 'NDI-S/S-HG' in the subsequent figures.…”

mentioning

confidence: 99%

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Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Wang

Sun

Kampen

et al. 2019

Aerospace Science and Technology

100

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This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear Dynamic Inversion (NDI) in the literature, the model dependency of the controller and the uncertainties in the closed-loop system are simultaneously reduced. This allows INDI-SMC/SMDO to passively resist a wider variety of faults and external disturbances using continuous control inputs with lower control and observer gains. When applied to a quadrotor, both numerical simulations and real-world flight tests demonstrate that INDI based SMC/SMDO has better performance and robustness over NDI based SMC/SMDO, in the presence of model uncertainties, wind disturbances, and sudden actuator faults. Moreover, the implementation process is simplified because of the reduced model dependency and smaller uncertainty variations of INDI-SMC/SMDO. Therefore, the proposed control method can be easily implemented to improve the performance and survivability of quadrotors in real life.

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“…SMC/SMDO is able to observe and compensate for bounded perturbations, as shown in Eqs. (9,10). Even though the SMC/SMDO control input designed by Eq.…”

Section: Ndi-smc/smdomentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 3 more Smart Citations

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Wang

Sun

Kampen

et al. 2019

Aerospace Science and Technology

100

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A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV

Zhou

Zhang

Dou

et al. 2018

Adaptive Control & Signal

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SUMMARYIn this paper, a fuzzy adaptive backstepping control law that combines mass observer and fuzzy control strategy with backstepping control is developed for the trajectory tracking control of a quadrotor unmanned aerial vehicle. In the control law, the mass change disturbance to the flight control could be restrained by the mass observer to estimate the real‐time mass and correct the mass parameter of the quadrotor, and the time‐varying external disturbance to the flight control could be restrained by fuzzy compensation of the fuzzy control law. Lyapunov stability theorem is used to analyze the stability of the closed‐loop control system. Two cases of trajectory tracking numerical simulations are presented in MATLAB/SIMULINK simulation environment. In addition, the quadrotor hovering experiment was completed on the actual flight experimental system with the time‐varying disturbance from wind outdoors. The simulation and actual flight results illustrate that the proposed control strategy is effective and stable under the simulating environment and the actual environment.

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Introduction

Labbadi

Boukal

Cherkaoui

2021

Studies in Systems, Decision and Control

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A novel nonlinear hybrid controller design for an uncertain quadrotor with disturbances

Cited by 75 publications

References 32 publications

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV

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