Comparative Results on Stabilization of the Quad-rotor Rotorcraft Using Bounded Feedback Controllers

Shakev, Nikola; Topalov, Andon V.; Kaynak, Okyay; Shiev, Kostadin

doi:10.1007/s10846-011-9583-3

Cited by 21 publications

(7 citation statements)

References 21 publications

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“…The dynamic model of the rotorcraft can be developed using the Lagrangian form of the dynamics [2,7,12]. Since the Lagrangian contains no cross-terms in the kinetic energy combining   and  , the Euler-Lagrange equation is partitioned into the dynamics for the  coordinates and the  dynamics:…”

Section: A Simplified Dyanamics Of the Quad-rotor Rotorcraftmentioning

confidence: 99%

“…In order to obtain an appropriate form of the equations (7) -(9) the following change of input variables is proposed [2,7] zz z z…”

Section: A Simplified Dyanamics Of the Quad-rotor Rotorcraftmentioning

confidence: 99%

“…For Z Y X   Euler angles the transition between non-inertial coordinates   , , x y z and inertial coordinates ( , , ) X Y Z can be done by the rotational matrix R [7].…”

Section: Pitch and Roll Control Strategiesmentioning

confidence: 99%

“…it can be shown that 7 s , 6 s and 5 s will converge to zero if the constants 7 c , 6 c and 5 c are chosen to be positive respectively.…”

Section: Pitch and Roll Angles Subsystemsmentioning

confidence: 99%

“…Therefore, different control techniques for quadro-copters have been recently proposed and investigated in the literature. Among the popular methods are linearization and linear quadratic regulator (LQR) [1,2], H-infinity state-space design and feedback linearization [3,4], model predictive control [5], backstepping control [6] and feedback control laws with saturation elements [7].…”

Section: Introductionmentioning

confidence: 99%

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Stabilizing multiple sliding surface control of quad-rotor rotorcraft

Shakev

Topalov

Shiev

et al. 2013

2013 9th Asian Control Conference (ASCC)

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The interest into the unmanned aerial vehicles (UAVs) has largely increased recently. With the advances in technologies it has become possible to test efficiently and costeffectively different autonomous flight control concepts using small-scale aircrafts. In this paper the stabilizing control problem of quad-rotor rotorcraft using multiple sliding surface (MSS) controllers has been investigated. The ability of the MSS control approach to stabilize under-actuated systems and to deal with existing nonlinear mismatched uncertainties in the dynamic model makes it a suitable choice for controlling roll and pitch angles of the rotorcraft. The proposed method is based on the definition of multiple switching surfaces that define certain relationships between variables to be maintained after the system passes into a sliding mode. Its effectiveness on the stabilizing control of the rotorcraft is demonstrated by the results obtained from flight simulations with an accurate dynamic model of the Draganflyer V Ti four-rotor miniature helicopter.

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Section: A Simplified Dyanamics Of the Quad-rotor Rotorcraftmentioning

confidence: 99%

“…In order to obtain an appropriate form of the equations (7) -(9) the following change of input variables is proposed [2,7] zz z z…”

Section: A Simplified Dyanamics Of the Quad-rotor Rotorcraftmentioning

confidence: 99%

“…For Z Y X   Euler angles the transition between non-inertial coordinates   , , x y z and inertial coordinates ( , , ) X Y Z can be done by the rotational matrix R [7].…”

Section: Pitch and Roll Control Strategiesmentioning

confidence: 99%

“…it can be shown that 7 s , 6 s and 5 s will converge to zero if the constants 7 c , 6 c and 5 c are chosen to be positive respectively.…”

Section: Pitch and Roll Angles Subsystemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Stabilizing multiple sliding surface control of quad-rotor rotorcraft

Shakev

Topalov

Shiev

et al. 2013

2013 9th Asian Control Conference (ASCC)

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Continuous Sliding Mode Control of a Quadrotor

Shakev

Topalov

2015

Recent Advances in Sliding Modes: From Control to Intelligent Mechatronics

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Abstract. The interest into the unmanned aerial vehicles has largely increased recently. With the advances in technologies it has become possible to test efficiently and cost effectively different autonomous flight control concepts using small-scale aircrafts. In this work the stabilizing and trajectory tracking control problem of a quad-rotor helicopter using sliding mode controllers has been investigated. The well-known ability of the above control approach to stabilize under-actuated systems and to deal with existing nonlinear mismatched uncertainties in their dynamic models makes it a suitable choice for controlling rotorcrafts. The proposed method is based on the definition of several terminal attractors to establish certain relationships between variables to be maintained, thus allowing a designed continuous sliding mode controller to drive the system's trajectory to a sliding surface in a finite time. Asymptotic stability of the system's motion in the sliding mode is then achieved. The effectiveness of the adopted approach is demonstrated by the results from a simulated flight of an automatically controlled small-scale four-rotor helicopter.

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