Adaptive Sliding Mode Control for Quadrotor Aerial Robot with Ι Type Configuration

Wang, Lifeng; He, Chongkui; Zhu, Pengfei

doi:10.14355/ijace.2014.0301.03

Cited by 12 publications

(2 citation statements)

References 14 publications

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“…The parameters for simulation of a sample cooperative Quadrotors model are set as (Wang et al, 2014), m = 1:77kg, d = 0:225m, I x = 2:16 3 10 À3 kg:m 2 , I y = 2:16 3 10 À3 kg:m 2 , I z = 0:33 3 10 À3 kg:m 2 , g = 9:81 m s 2 , J r = 3:357 3 10 À5 kg:m 2 , b = 2:98 3 10 À6 , l = 0:42m, y Mxy y F = 1 400…”

Section: Simulation Resultsmentioning

confidence: 99%

“…We now report on the numerical simulation we have carried out to accredit the efficiency of the proposed control scheme. The parameters for simulation of a sample cooperative Quadrotors model are set as (Wang et al, 2014), To compare the effectiveness of proposed cooperative controller on system performance and the reduced tracking errors two cases are considered, the first one is grasping, that is, immobilize the object from different initial conditions of each Quadrotor to point-to-point path planning. The second simulation considers grasp and then manipulation for separately described predefined trajectory tracking.…”

Section: Simulation Resultsmentioning

confidence: 99%

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Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE

Babaie

Ehyaie

2016

Transactions of the Institute of Measurement and Control

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In this paper, we consider the problem of controlling a team of Quadrotors that cooperatively grasp and transport a common payload in three dimensions in the presence of external disturbances and parametric uncertainties such as wind field effects. The main contribution of this work is to propose a cooperative control algorithm based on a decentralized strategy. This algorithm consists of two main parts: first calculating the control vectors for each Quadrotor using Moore-Penrose theory and second combining these control vectors with individual control vectors, which are obtained from a closed-loop non-linear robust optimal controller. In this regard, a robust optimal sliding mode controller (ROSMC), which incorporates the statedependent Riccati equation (SDRE) method with sliding mode control (SMC) technique, is designed. It also has the capability of maximum dynamic load carrying capacity (DLCC) to increase the carrying capacity and the efficiency of the group of Quadrotors. The proposed method inherits the advantages of both approaches including robustness against model uncertainties and high flexibility in designing the control parameters to provide an optimal solution for the non-linear dynamic of the system. The control algorithm is based on the Lyapunov technique, which is able to provide the stability of the end-effecter during tracking of the desired trajectory with acceptable precision. Finally, the simulation results demonstrate the effectiveness of the control strategy for the cooperative Quadrotors to grasp and transport a common payload in various manoeuvres.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Simulation Resultsmentioning

confidence: 99%

Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE

Babaie

Ehyaie

2016

Transactions of the Institute of Measurement and Control

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Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

Barghandan

Badamchizadeh

Jahed‐Motlagh

2017

Int. J. Control Autom. Syst.

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Design of Dual Copter for Surveillance Applications

Balaji¹,

Mithil²,

Gousanal³

2021

IOP Conf. Ser.: Mater. Sci. Eng.

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In this paper, an innovative design model of autonomous aerial vehicle is designed and fabricated with dual rotor setup. Nowadays, innovative unmanned aerial vehicles (UAVs) are widely required for surveillance, monitoring, data collection, reconnaissance and generally in places where humans face hazardous. In this model and design of UAVs, aero dynamic principles are adopted through reasonable design considerations and assumptions. Most of the researchers and academicians are currently pursuing research on AVs with various structures, wing designs, fabrication methods, controllers and materials to increase the efficeincy as well as for various applications. In this proposed work, an effort is made to design and fabricate the dual copter with wide moving ranges for surveillance applications in military intelligence system. This proposed design will be suited for all environmental conditions to collect the data as well as monitoring the system. Dual copter chassis are fabricated using 3D printer after the validation and analysis the proposed design using Solidworks CAD tool. The chassis are fabricated with the provision of space where the required sensors, actuators and controllers can be assembled. Lithium polymer batteries are employed to achieve the better performance for copter. The fabricated setup is integrated with radio frequency controller to achieve the flight control through RF transmitter. Hence the performance of the fabricated device is validated and analyzed through various performance measures of dual copter.

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Adaptive Sliding Mode Control for Quadrotor Aerial Robot with Ι Type Configuration

Cited by 12 publications

References 14 publications

Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE

Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE

Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

Design of Dual Copter for Surveillance Applications

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