Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Shin, Jong‐Ho; Kim, H. Jin; Kim, Youdan; Dixon, Warren E.

doi:10.1109/tcst.2011.2160179

Cited by 60 publications

(5 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The description of the inner loop control system of the quadrotor is shown in Equation (9). Let the attitude tracking error 1 e  and the filtered error signals 2 e  ， 3 e  be defined as follows [36,37]:…”

Section: Inner Loop Attitude Tracking Controlmentioning

confidence: 99%

See 1 more Smart Citation

Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Yuan

Wang

2021

Sensors

View full text Add to dashboard Cite

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

show abstract

Section: Inner Loop Attitude Tracking Controlmentioning

confidence: 99%

“…is a positive constant. According to references [37,38], the RISE position controller is designed as follows:…”

mentioning

confidence: 99%

Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Yuan

Wang

2021

Sensors

View full text Add to dashboard Cite

show abstract

“…Robust integral of signal of error (RISE) control is a data-driven control method that has a simple structure and can control the system without the need for detailed system parameters and modeling. It has been widely used in underwater vehicles, automatic flight systems, multi-robot system trajectory tracking, and other fields [17][18][19][20][21][22][23]. In order to improve the loading accuracy and dynamic performance of the load simulator under the interference of redundant torque and backlash, a dual-motor loading structure is designed, and a composite control strategy suitable for this structure is proposed.…”

Section: Introductionmentioning

confidence: 99%

Research on Control Method of Dual-Motor Load Simulator

Liu

2023

WEVJ

View full text Add to dashboard Cite

Aiming at the output torque error of a steering gear electric load simulator caused by excess torque and backlash interference, an electric load simulator based on double-motor loading is designed. The double-motor loading mode is adopted in the structure, the mathematical model is established, and the sources of excess torque and backlash interference are analyzed. In the control strategy, firstly, a torque controller is designed as a feedback controller based on the improved error symbol robust integral control method, and then a backlash interference compensator is designed as a feedforward controller based on the drive redundancy strategy. Finally, a dual motor speed synchronization controller is designed based on the improved cross coupling control method to ensure the stable operation of the torque controller and backlash compensator in the dual-motor system. The simulation results show that the compound control method can reduce the tracking error to 1.13%, 4.44% less than the PID control method. The tracking error is only 1.54% in the case of redundant torque, backlash, and different parameters of dual motors. The method proposed in this paper can still output loading torque with high accuracy.

show abstract

“…However, it is difficult to prove the overall stability and/or different flight control modes cannot be used at the same time. To overcome this drawback, a hierarchical control strategy based on inner-and outer-loop subsystems is generally used [14][15][16][17][18][19][20][21][22][23]. Using this strategy, it is possible to prove the stability of the closed-loop system and control the position and attitude of the quadrotor simultaneously.…”

Section: Introductionmentioning

confidence: 99%

“…Using this strategy, it is possible to prove the stability of the closed-loop system and control the position and attitude of the quadrotor simultaneously. Therefore, nonlinear controllers such as backstepping [16], adaptive [17,18], sliding mode [19][20][21], and neural-network-based controllers [22,23] have all been proposed using hierarchical control strategies. In a hierarchical control strategy, the control system is divided into two subsystems.…”

Section: Introductionmentioning

confidence: 99%

Disturbance Observer-Based Control for Trajectory Tracking of a Quadrotor

Park

2020

Electronics

View full text Add to dashboard Cite

This paper presents a new control approach for the trajectory tracking of a quadrotor in the presence of external disturbances. Unlike in previous studies using hierarchical control strategies, a nonlinear controller is designed by introducing new state transformations that can use Euler angles as virtual control inputs. Thus, the proposed method can eliminate the timescale separation assumption of hierarchical control strategies. To estimate the external disturbances involved in the translational and rotational dynamics of the quadrotor, disturbance observers are developed. Using state transformations and estimates of external disturbances, we design a robust nonlinear controller based on the dynamic surface control method. The stability of the closed-loop system is analyzed without separation into two subsystems. From the Lyapunov stability theory, it is proven that all error signals in the closed-loop system are uniformly ultimately bounded and can be made arbitrarily small. Finally, simulation results are presented to demonstrate the performance of the proposed controller.

show abstract

Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

Cited by 60 publications

References 21 publications

Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Research on Control Method of Dual-Motor Load Simulator

Disturbance Observer-Based Control for Trajectory Tracking of a Quadrotor

Contact Info

Product

Resources

About