Cascade control for heterogeneous multirotor UAS

Hoshu, Ayaz Ahmed; Wang, Liuping; Fisher, Alex; Sattar, Abdul

doi:10.1108/ijius-02-2021-0008

Cited by 8 publications

(6 citation statements)

References 27 publications

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“…For which, a separate PID controller is tuned for each of the decomposed subsystem totally based upon the concerned subsystem dynamics. Which in turn provides the effective resolution towards the control issues of the systems, which exhibit complexity in the dynamics [34]. The attitude control system is supposed to be the heart of the quadrotor control structure as it is responsible to maintain the desired 3D orientation of the unmanned vehicle [35].…”

Section: Dynamic Model Of Quadrotor and Control Architecturementioning

confidence: 99%

“…The control system is implemented in the cascaded structure as presented in Figure 2. Atmospheric turbulences that are modeled based on the Dryden turbulence model [41] are injected into the model of the system as well that are demonstrated in [34,42]. The attitude control performance to track desired roll axis is presented in Figure 7.…”

Section: Validationmentioning

confidence: 99%

“…Moreover, comparison is performed in order to examine the superiority of the presented relay with embedded integrator-based automatic tuning approach over the conventional model-based PID controller design approach that is presented in [34]. The model-based PID controller is designed for the roll attitude system and is implemented over the quadrotor system.…”

Section: Validationmentioning

confidence: 99%

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Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Hoshu,

Mustafa Abro,

Alhussein

et al. 2023

International Journal of Aerospace Engineering

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Due to their enormous characteristics and applicability, quadrotor unmanned aerial vehicles (UAVs) have enjoyed much popularity lately. However, designing a stable control strategy for quadrotors still remains one of the major concerns mainly due to the requirement of an accurate system model. They are naturally underactuated systems, with complex and nonlinear dynamics as well as interaxes couplings. Considering the dynamical complexities of these vehicles, one of the efficient methods is to utilize the relay feedback experiments and automatic tuning approach to tackle these issues. This paper investigates the employment of the relay with embedded integrator approach, wherein the quadrotor dynamics are estimated effectively with minimal parameters as compared to previously utilized relay with hysteresis technique. Frequency sampling filter (FSF) is further utilized for the extraction of the needful data through the signals obtained using the relay experiments, followed by the estimation of the plant dynamics. PID controllers have then been developed using the approximated quadrotor models. Which are used in the proposed cascade control structure for the quadrotor. The demonstrated results and analysis present the efficacy of designed control system technique for the quadrotor UAV.

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Section: Dynamic Model Of Quadrotor and Control Architecturementioning

confidence: 99%

Section: Validationmentioning

confidence: 99%

Section: Validationmentioning

confidence: 99%

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Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Hoshu,

Mustafa Abro,

Alhussein

et al. 2023

International Journal of Aerospace Engineering

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“…Moreover, the cascade control system has been exercised in developing roll attitude control for the aircraft with multiple aileron segments. The cascade control system for both fixed-wing 23 and multirotor UAVs 33,34 has become popular because of it ability to tackle complex system dynamics by using two loops. In this work, MPC is deployed in the inner loop that controls the roll rate while a simple proportional controller is used in the outer loop to control roll angle of the aircraft.…”

Section: Introductionmentioning

confidence: 99%

Disturbance rejection enhancement using predictive control for the fixed‐wing UAV with multiple ailerons

Sattar

Wang

Ansari

et al. 2023

Adaptive Control & Signal

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Summary The performance of small fixed‐wing unmanned aerial vehicles (UAVs) is easily degraded by exogenous disturbances. In an attempt to improve the performance, the structural change is made in conventional small fixed‐wing UAV through segmentation of each aileron control surface into multiples. Detailed system identification experiments are performed on each aileron pair in the wind tunnel to acquire linear dynamic models for the roll attitude of the UAV. These experiments have provided the transfer functions for the aileron control surfaces based on corresponding frequency response. Three distinctive model predictive controllers are designed and deployed in real‐time hardware to achieve the roll attitude control. The roll attitude control experiments are validated in wind tunnel under both normal and turbulent environments. The results show that multiple input and single output control system provides significant improvement in the roll attitude and disturbance rejection performance. The collective actuation of multiple control surfaces improves roll stability by 10.1%$$ 10.1\% $$ to 67.87%$$ 67.87\% $$ when compared to the single aileron pair based conventional control in the presence of turbulent flight conditions.

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“…Mardan et al (2017) present a quantitative feedback theory and fuzzy controller implementation on a quadrotor for attitude and position trajectory tracking with the presence of wind disturbances. Hoshu et al (2021) explore a heterogeneous multirotor configuration to provide the robust and stable control system for it. An online disturbance observer compensation method is utilized in Lee et al (2022) to compensate for the variation in the center of mass of a continuously spinning quadrotor.…”

mentioning

confidence: 99%

A real-test and simulation combined platform for developing intelligent tracking control of multirotors

Bajelani

Tayefi²,

Zhu³

2022

IJIUS

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PurposeThis study aims to minimize the risk of costly failures of flight tests during the path tracking control design, and a noble approach has been proposed in this study to put the whole vehicle-in-the simulation loop. Working with the real system is essential for developing intelligent and data-driven controllers for multirotor drones which needs learning the drones' nonlinear complicated dynamics. The vehicle-in-the-loop (VIL) platform developed in this paper is a safe and effective solution to deal with this problem.Design/methodology/approachTo avoid risky flight test during controller design, the multirotor is hinged to a shaft that allows the multirotor's angular motion but restricts translational motion. The test-bed includes the real system attitude dynamics and the simulation of the position dynamics to model the complete flight based on real-time reactions of the vehicle. For the authors' case study, a hexacopter angular motion provides the real-time attitude data in translational motion simulation loop. To test the set-up, a proportional-integral-derivative (PID) and a brain emotional learning-based intelligent controller (BELBIC) is implemented for tracking of circle and 8-shape flight trajectories.FindingsThe results show that the platform helps the intelligent controller to learn the system dynamics without worrying about the failure in the early stages of the design and in the real-world flight test. Although the hexacopter translational dynamics is modeled in simulation, the authors still have highly accurate attitude dynamics matching the requirement of the control loop design. The comparison of the two controllers also shows that the performance of BELBIC is better than PID in this test.Originality/valueThe research background is reviewed in the introduction section. The other sections are originally developed in this paper.

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Cascade control for heterogeneous multirotor UAS

Cited by 8 publications

References 27 publications

Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Disturbance rejection enhancement using predictive control for the fixed‐wing UAV with multiple ailerons

A real-test and simulation combined platform for developing intelligent tracking control of multirotors

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