Attitude Tracking Control of Small-Scale Unmanned Helicopters Using Quaternion-Based Adaptive Dynamic Surface Control

Duan, Xiaojun; Yue, Chao; Liu, Huiying; Guo, Huijuan; Zhang, Fan

doi:10.1109/access.2020.3043363

Cited by 10 publications

(12 citation statements)

References 45 publications

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Section: Ude-based Dynamic Surface Controller Designmentioning

confidence: 99%

“…The dynamics of each attitude channel take the form of (7). Without loss of generality, we design a control law for (7) such that the attitude state x 1 can track a desired attitude signal x 1d . Then, the identical controller architecture can be employed for each attitude channel, albeit with distinct control gains.…”

Section: Ude-based Dynamic Surface Controller Designmentioning

confidence: 99%

“…To complete these missions, precise attitude control is critical for quadrotor drones to achieve stable flight and perform complicated maneuvers. Many researchers have conducted extensive and in-depth research on the attitude control of quadrotor drones and have proposed various control schemes based on different control methods [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

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UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Qin

Tang

et al. 2023

Drones

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Quadrotor drone attitude tracking is inevitably affected by the combination of model uncertainties, external disturbances, and non-ideal actuator dynamics during stable flight and complex maneuvers. In order to achieve precise attitude control in these situations, a cascade-structured dynamic surface control (DSC) strategy is proposed based on an uncertainty and disturbance estimator (UDE), considering the actuator dynamics as represented by a first-order plus time-delay model. The DSC scheme is used to transform the original attitude dynamics system into a set of interconnected subsystems. On the one hand, the mismatched disturbances in the attitude kinematics and dynamics loops are converted into matched disturbances to accommodate the structural constraints of the UDE so that these disturbances, as well as the non-ideality caused by the actuator time delay, are estimated and compensated for by the approach. On the other hand, the “complexity explosion” problem is addressed by the first-order filter employed by DSC. The ultimate boundedness of the closed-loop system is proven while the parameter design constraints are provided. MATLAB Simulink simulations are conducted to demonstrate the desirability of considering actuator dynamics and to verify that the proposed control strategy can relax the constraints of the control parameters and enable a higher accuracy.

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Section: Ude-based Dynamic Surface Controller Designmentioning

confidence: 99%

Section: Ude-based Dynamic Surface Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Qin

Tang

et al. 2023

Drones

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“…The control objective is to make the system output y follow the desired signal Remark 1: Numerous physical plants can be converted into the special cases of the nonlinear system (1), such as robotic manipulators [46], chemical processes [47], and helicopter systems [48]. Remark 2: It should be mentioned that the desired signal d y and its th, 1, ,…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Adaptive Finite-Time Tracking Control for Nonlinear Time-Varying Delay Systems With Full State Constraints and Input Saturation

2021

IEEE Access

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This paper investigates the adaptive finite-time tracking control problem for a class of nonlinear time-varying delay systems subject to full state constraints and input saturation. The nonlinear state-dependent functions (NSDFs) are introduced to handle the asymmetric time-varying full state constraints without feasibility conditions. To cope with the unknown time-varying delays, the radial basis function neural networks (RBF NNs) and the finite covering lemma are utilized. Avoiding the use of the Lyapunov-Krasovskii functionals (LKFs), no restriction on the derivative of the time-varying delays is needed. Meanwhile, the effect of the input saturation is eliminated by the augmented function with an auxiliary control signal. The adaptive finite-time tracking controller with only one adaptive parameter is constructed by applying the command filter approach and backstepping technique. It is proved that the proposed controller can ensure that all signals in the closed-loop system are bounded and the tracking error converges to a small neighborhood of the origin in a finite time. Finally, the effectiveness of the proposed scheme is demonstrated by two simulation examples.

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“…As a typical vertical take-off and landing (VTOL) vehicle, unmanned helicopters mainly use the lift generated by the rotor to control their own motion and are widely used in measurement, search, rescue, surveillance, and other fields [1][2][3][4][5]. Unmanned helicopter control has complex problems such as large nonlinearity and strong coupling, and usually requires a good control strategy to maintain its attitude.…”

Section: Introductionmentioning

confidence: 99%

Research on attitude control strategy of unmanned helicopter based on hybrid particle swarm optimization algorithm

Liu

Yang

Qian

et al. 2022

J. Phys.: Conf. Ser.

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For the unmanned helicopter attitude control problem, an optimal control strategy based on hybrid particle swarm optimization (PSO) algorithm has been proposed. Firstly, a coupled dynamics model of the system has been established based on the structural characteristics of the unmanned helicopter system; secondly, a gain scheduling control method has been adopted to select multiple system stable operating points with real-time error as the scheduling variable, and a gain scheduling attitude controller has been designed; further, the inertia weights and learning factors are dynamically adjusted on the basis of the traditional PSO algorithm, and a hybrid PSO algorithm has been proposed for unmanned helicopter attitude control; finally, the improved controller has been compared and verified by the semi-physical. The experimental results show that the improved algorithm improves the attitude control effect and anti-interference capability of the unmanned helicopter, resulting in a reduction of the adjustment time by about 3.8s and the maximum steady-state amplitude by about 0.154°.

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Attitude Tracking Control of Small-Scale Unmanned Helicopters Using Quaternion-Based Adaptive Dynamic Surface Control

Cited by 10 publications

References 45 publications

UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

UDE-Based Dynamic Surface Control for Quadrotor Drone Attitude Tracking under Non-Ideal Actuators

Adaptive Finite-Time Tracking Control for Nonlinear Time-Varying Delay Systems With Full State Constraints and Input Saturation

Research on attitude control strategy of unmanned helicopter based on hybrid particle swarm optimization algorithm

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