Adaptive event-triggered control for quadrotor aircraft with output constraints

Wang, Jie; Wang, Ping; Ma, Xiao

doi:10.1016/j.ast.2020.105935

Cited by 32 publications

(17 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The inner loop was designed to control the quadrotor attitude based on a coordinate-free geometric attitude tracking controller. In Wang et al (2020), two control loops were presented to control the quadrotor. In the position loop, an adaptive controller was defined, and in the attitude loop event-triggered control was employed.…”

Section: Introductionmentioning

confidence: 99%

Global exponential stabilization of a quadrotor by hybrid control

Hashemi

Pariz

Sani

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

The main purpose of this paper is to introduce a hybrid controller for global attitude tracking of a quadrotor. This controller globally exponentially stabilizes the desired attitude, a task that is impossible to accomplish with memoryless discontinuous or continuous state feedback owing to topological obstruction. Thereafter, this paper presents a new centrally synergistic potential function to construct hybrid feedback that defeats the topological obstruction. This function induces a gradient vector field to globally asymptotically stabilize the reference attitude and produces the synergy gap to generate a switching control law. The proposed control structure is consisting of two major parts. In the first part, a synergetic controller is designed to cooperate with the hybrid controller, whereas it exponentially stabilizes the origin of the error dynamics. In the second part, a hybrid controller is introduced to globally stabilize the attitude of the quadrotor, where an average dwell constraint is considered with the switching control law to guarantee the exponential stability of the switched system. Finally, the effectiveness and superiority of the proposed control technique are validated by a comparative analysis in simulations.

show abstract

Section: Introductionmentioning

confidence: 99%

Global exponential stabilization of a quadrotor by hybrid control

Hashemi

Pariz

Sani

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…Based on the concept of BLF, the output constraint problem of surface vehicle [25]- [26], underwater robot [27] and robot manipulator [28] was resolved by using the tantype. Furthermore, the asymmetric BLF (ABLF) was also established to handle the output constraint problem of aircraft [29], surface ship [30], etc. However, a practical factor-input saturation-is not taken into account in the establishment of the closed-loop system in [21]- [29], such an operation may lead to the failure of control objective.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the asymmetric BLF (ABLF) was also established to handle the output constraint problem of aircraft [29], surface ship [30], etc. However, a practical factor-input saturation-is not taken into account in the establishment of the closed-loop system in [21]- [29], such an operation may lead to the failure of control objective. The input saturation is a potential problem for all actuators of control systems, which may lead to unexpected control result or instability.…”

Section: Introductionmentioning

confidence: 99%

“…Another method is used a smooth function to replace the saturation model, which is also applied in the tracking control issue of marine surface vehicles [36]- [37]. Although the operational space constraint and the inherent physical limitation issue have been fully considered in [21]- [29] and [31]- [37], respectively, these two limitations often exist simultaneously in practice.…”

Section: Introductionmentioning

confidence: 99%

“…where [21]- [29] take the output constraint issue account into the control design and [31]- [37] take the input saturation issue account into the control design, the proposed neuroadaptive control schemes can simultaneously solve constrains both input and output for uncertain ELSs, and guarantees that the constrains both input and output are not violated. 2) Compared with the works [21]- [22], [32]- [33] and [41], where a number of adaptive regressors are employed to update the unknown ideal weight, only one unknown parameter needs to be learned online under the proposed direct/indirect neuroadaptive control schemes.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Neuroadaptive Control for Uncertain Euler-Lagrange Systems With Input and Output Constraints

Wang¹,

Kuang²

2021

IEEE Access

View full text Add to dashboard Cite

This paper investigates the control issue of Euler-Lagrange systems (ELSs) subject to dynamic uncertainties and external disturbances under input and output constraints, and develops two neuroadaptive control schemes, i.e., direct neuroadaptive approximation method and indirect neuroadaptive approximation method. In the control design, a smooth saturation function called Gaussian error function is used to replace the saturation model, which is applied to solve the input saturation issue. Moreover, a new function is used to guarantee that the output does not violate the restricted boundary. The uncertain dynamic of the ELSs is reconstructed by the direct or indirect neuroadaptive method, and then a virtual-parameter learning method is proposed to reduce the computational load of control schemes. With the aid of Lyapunov stability theory, it is proven that all signals in the closed-loop control system are bounded and the tracking error of ELSs converges to zero under the proposed neuroadaptive control control schemes. The simulations on a robotic manipulator illuminate the effectiveness and preponderance of the developed neuroadaptive control schemes.INDEX TERMS Euler-Lagrange system, dynamic uncertainty, input and output constraints, neuroadaptive control.

show abstract

Fast finite‐time adaptive tracking control for non‐strict feedback stochastic nonlinear systems with full state constraints

Zhao,

Sun

et al. 2023

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryThis article focuses on the fast finite‐time adaptive tracking control for non‐strict feedback stochastic nonlinear systems. Random disturbances with constraints have rarely been considered in previous studies of fast finite‐time stabilization problems. The corresponding extension of the adaptive fast finite‐time stabilization mechanism to stochastic nonlinear systems with full‐state constraints is one of the innovations of this article. First, neural networks and barrier Lyapunov functions are utilized to handle the problems arising from the unknown nonlinear terms and the state constraints, respectively. Second, an adaptive fast finite‐time tracking control scheme for stochastic systems is designed based on the backstepping technique and a fast finite‐time control strategy, which allows all signals of the closed‐loop system to be bounded. Meanwhile, the designed controller guarantees a fast convergence of the tracking error to a small neighborhood of the origin under full‐state constraints. Finally, two examples are given to illustrate the feasibility of the proposed method.

show abstract

Adaptive event-triggered control for quadrotor aircraft with output constraints

Cited by 32 publications

References 27 publications

Global exponential stabilization of a quadrotor by hybrid control

Global exponential stabilization of a quadrotor by hybrid control

Neuroadaptive Control for Uncertain Euler-Lagrange Systems With Input and Output Constraints

Fast finite‐time adaptive tracking control for non‐strict feedback stochastic nonlinear systems with full state constraints

Contact Info

Product

Resources

About