Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load

Yao, Kui; Liang, Xiao; He, Yuqing; Lee, Yang; Han, Jianda

doi:10.3390/electronics8040461

Cited by 25 publications

(13 citation statements)

References 24 publications

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“…Because of the high safety requirement of rollator for the elderly, it is necessary to design the lateral motion control of the auxiliary driving system [31]. In this chapter, a tracking controller of the four-wheel rollator is carried out by the model prediction algorithm in term of the trajectory error.…”

Section: Lateral Stability Tracking Control Of Designed Rollatormentioning

confidence: 99%

Novel Design and Lateral Stability Tracking Control of a Four-Wheeled Rollator

Zhang

et al. 2019

Applied Sciences

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Design and control of smart rollators have attracted increasing research interests in the past decades. To meet the requirements of the elderly or disabled users, this paper proposes a novel design and tracking control scheme for empowering and assisting natural human mobility with a four-wheeled rollator. Firstly, by integrating the advantages of Kano Model Analysis and the Theory of Inventive Problem Solving (TRIZ), we introduce a novel Kano-TRIZ industrial design method to design and optimize its mechanical structure. The demand and quality characteristics of the clinical rollator are analyzed according to the Kano model. The Quality Function Deployment (QFD) and TRIZ are adopted to integrate industrial product innovations and optimize the function configuration. Furthermore, a lateral stability controller based on Model Predictive Control (MPC) scheme is introduced to achieve good tracking control performance with the lateral deviation and the heading angle deviation. Finally, the feasibility of the design and control method is verified with a simulation study. The simulation results indicate that the proposed algorithm keeps the lateral position error in a reasonable range. In the co-simulation of ADAMS-MATLAB, the trajectory of the rollator is smooth with constrained position error within 0.1 m, the turning angle and speed can achieve stable tracking control within 5 s and the heading angle is accurate and the speed is stable. A compared experiment with MPC and SMC show that MPC controller has faster response, higher tracking accuracy and smoother trajectory on the novel designed rollator. With the increasing demand for rollators in the global market, the methodology proposed in this paper will attract more research and industry interests.

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Section: Lateral Stability Tracking Control Of Designed Rollatormentioning

confidence: 99%

Novel Design and Lateral Stability Tracking Control of a Four-Wheeled Rollator

Zhang

et al. 2019

Applied Sciences

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“…While the effects of the mass varying on quadrotor has been overly ignored. The mass changes are viewed as disturbances or model errors such as an active model control scheme proposed in literature, 18 in which the model error was used to describe the load variation. This scheme is only applicable to mass mutation systems.…”

Section: Introductionmentioning

confidence: 99%

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

Zhou

Jin

et al. 2021

Advances in Mechanical Engineering

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The flight stability and safety of the quadrotor unmanned aerial vehicle (UAV) with variable mass are the key problems that limit its application. In order to improve the stability and steady-state control precision of the quadrotor system against slow-varying mass and external disturbance, a new robust adaptive flight control algorithm is developed and analyzed in detail in this paper. Firstly, a mass observer based on adaptive control theory is designed to estimate the real-time mass and correct the mass parameter of the UAV. Then, a hyperbolic tangent function and a proportional integral (PI) controller is added into the attitude controller to eliminate the effect of the external disturbances. Finally, a hybrid robust adaptive controller (HRAC) developed with backstepping control method is used here for the trajectory tracking of quadrotor. The boundedness of the nonlinear system is verified by Lyapunov stability theory and uniformly ultimately bounded theorem. The trajectory tracking simulation experiments are presented in MATLAB/SIMULINK simulation environment. According to the simulation results, the real-time mass of quadrotor can be estimated by HRAC satisfactorily under the condition of external disturbances, while the estimate error of mass is only 6.4% of its own. In addition, HRAC can provide a higher trajectory tracking accuracy compared with robust optimal backstepping control (ROBC) and robust generalized dynamic inversion (RGDI). The results suggest a promising route based on the mass observer and hybrid robust controller toward slow-varying mass and the external disturbance as effective robustness control strategy for quadrotor UAV.

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“…In terms of structure composition, most aerial manipulators use helicopter or multirotor as flight platforms because of their simple structure and adequate research. The Chinese Academy of Sciences used a quadrotor to slung loads by a cable [10]. Yale University used a helicopter combined with a single-degree-of-freedom (DOF) gripper to achieve compliant grasping of the object under the platform [11].…”

Section: Introductionmentioning

confidence: 99%

Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator

Zhang

Chen

et al. 2020

Sensors

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An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.

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Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load

Cited by 25 publications

References 24 publications

Novel Design and Lateral Stability Tracking Control of a Four-Wheeled Rollator

Novel Design and Lateral Stability Tracking Control of a Four-Wheeled Rollator

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

Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator

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