Control Algorithm for Taking off and Landing Manoeuvres of Quadrotors in Open Navigation Environments

Lozano-Hernández, Yair; Frías, Octavio Gutiérrez; Lozada‐Castillo, Norma; Juárez, Alberto Luviano

doi:10.1007/s12555-017-0743-5

Cited by 17 publications

(21 citation statements)

References 15 publications

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“…where M is a positive semidefinite matrix, C is the Coriolis matrix, G is the gravity matrix, U is the input control matrix, and D is the external disturbance matrix. e terms D x , D y , and D α are assumed to be unmodelled owing to the external disturbances and are defined as follows [30,31]:…”

Section: Dynamic Modelmentioning

confidence: 99%

Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Rios

Gutiérrez-Frías

Aguilar-Ibáñez

et al. 2021

Mathematical Problems in Engineering

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This paper presents a control scheme that allows height position regulation and stabilization for an unmanned planar vertical takeoff and landing aircraft system with an inverted pendular load. The proposed controller consists of nested saturations and a generalized proportional integral (GPI). The GPI controls the aircraft height and the roll attitude; the latter is used as the fictitious input control. Next, the system is reduced through linear transformations, expressing it as an integrator chain with a nonlinear perturbation. Finally, the nested saturation function-based controller stabilizes the aircraft’s horizontal position and the pendulum’s angle. Obtaining the control approach was a challenging task due to the underactuated nature of the aircraft, particularly ensuring the pendulum’s upright position. The stability analysis was based on the second method of Lyapunov using a simple candidate function. The numerical simulation confirmed the control strategy’s effectiveness and performance. Additionally, the numerical simulation included a comparison against a PD controller, where its corresponding performance indexes were estimated, revealing that our controller had a better response in the presence of unknown disturbances.

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Section: Dynamic Modelmentioning

confidence: 99%

Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Rios

Gutiérrez-Frías

Aguilar-Ibáñez

et al. 2021

Mathematical Problems in Engineering

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“…Consider the x-subsystem with the equivalent control u 2eq given in (17) and a hitting control term v s given in (21); the sliding surface s 7 converge to the origin value; then, the tracking error e 7 is stable.…”

Section: Theoremmentioning

confidence: 99%

“…The ultimate inputs presented in (17) and (18) applied to the dynamics system 7, and the STMFTSMC technique guarantees the overall closed-loop system stability.…”

Section: Theoremmentioning

confidence: 99%

“…This controller uses a backstepping approach with a novel parameter-scheduling scheme. The authors of [17] combine a generalized proportional integral (GPI) controller and a nested saturation method to control the drone in the presence of disturbances. In [18], three controllers based on the second sliding mode controller are developed for altitude control.…”

Section: Introductionmentioning

confidence: 99%

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Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

Houm

Abbou

Labbadi

et al. 2020

International Journal of Aerospace Engineering

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This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

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“…To express system (17) as an integrator chain, with a nonlinear perturbation, and to propose a controller for the stabilization of the subsystem (x 1 , θ 1 ), it is proceeded similarly as in [32], so that the following global nonlinear transformation is defined:…”

Section: System As An Integratormentioning

confidence: 99%

A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances

et al. 2020

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In this study, a control scheme that allows performing height position regulation and stabilization for an unmanned planar vertical take-off and landing aerial vehicle, in the presence of disturbance due to wind, is presented. To this end, the backstepping procedure together with nested saturation function method is used. Firstly, a convenient change of coordinates in the aerial vehicle model is carried out to dissociate the rotational dynamics from the translational one. Secondly, the backstepping procedure is applied to obtain the height position controller, allowing the reduction of the system and expressing it as an integrator chain with nonlinear disturbance. Therefore, the nested saturation function method is used to obtain a stabilizing controller for the horizontal position and roll angle. The corresponding stability analysis is conducted via the Lyapunov second method. In addition, to estimate the disturbance due to wind, an extended state observer is used. The effectiveness of the proposed control scheme is assessed through numerical simulations, from which convincing results have been obtained.

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Control Algorithm for Taking off and Landing Manoeuvres of Quadrotors in Open Navigation Environments

Cited by 17 publications

References 15 publications

Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

A Robust Control Scheme for a PVTOL System Subject to Wind Disturbances

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