Control Design for UAV Quadrotors via Embedded Model Control

Lotufo, Mauricio Alejandro; Colangelo, Luigi; Novara, Carlo

doi:10.1109/tcst.2019.2918750

Cited by 28 publications

(14 citation statements)

References 34 publications

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“…In order to recover the unknown perturbations and acquire an enhanced robustness, a great deal of advanced disturbance observers have been exploited for quadrotors by compensating for the negative impact in a feedforward manner, i.e., sliding mode observers (SMO) [5][6][7][8], extended state observers (ESO) [9][10][11], and function approximators [12][13][14]. To reinforce the tracking performance for quadrotors, a fixed-time-based SMO control rule was suggested in Zhou et al [5].…”

Section: Introductionmentioning

confidence: 99%

“…However, certain defects including the unexpected chattering phenomenon in [5][6][7][8] and complex argument selections impose restrictions on engineering practices to a certain extent. In addition, it is generally difficult to make a compromise between the peak phenomenon and the convergence speed of estimation errors by using ESO [9][10][11]. On the other hand, the tedious iteration calculations in [12][13][14] caused by weight updating inevitably increase the computational burden and deteriorate control response.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

Zhen

Zhang

2022

Electronics

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In the article, an unknown system dynamics estimator-based anti-disturbance attitude funnel control technique is considered for quadrotors to ensure tracking performance when experiencing parametric uncertainties and external perturbations. To reinforce the anti-disturbance ability, an unknown system dynamics estimator was established by constructing the filtering operation-based invariant manifold, resulting in a more concise design framework, lower computational consumption and an asymptotic error convergence. Additionally, a funnel control policy was employed to regulate angle-tracking errors within a minor overshoot, a faster convergence time and a lower steady-state error by devising the funnel variables, where an exponential decaying function was used to construct the funnel boundary. The great improvements beyond the available quadrotor control policies are related to satisfied disturbance mitigation and performance guarantees as a priority despite uncertainties. The error arguments comprising of angle and angular rate for quadrotors were ultimately uniformly bounded and the angles controlling the deviations were restricted to the funnel boundary. Finally, the simulations and experiments verified the superiority of the proposed control technique in terms of reduced control actions and higher precision, as well as shorter settling time.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

Zhen

Zhang

2022

Electronics

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“…An efficient and robust controller algorithm could greatly improve the flight performance of the quadcopter. The synthesis of a robust flight control algorithm required high-order models, which can be used to describe the most out of the actual motions at several key flight statuses [4,5]. When the flight controller designed based on a high-fidelity model is carried out in actual flight tests, the designed handing qualities could be better realized, and the risk of a crash can be greatly reduced.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Modeling the Quadcopter Considering the Aerodynamic Interaction

Wang

Song

et al. 2021

IEEE Access

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This paper presents a nonlinear model of the quadcopter to simulate the actual motion. An aerodynamic model of the rotor is obtained through wind-tunnel tests, which consider the variations in the rotor's angular velocity, incoming flow speed, and angle of attack of the rotor ( p  ). The quadcopter's fuselage aerodynamics and mutual interference are simulated using the computational fluid dynamic (CFD) method. The mesh motion method is used to simulate the rotation of the rotor. It can be found that the interference has a significant impact on the aerodynamic load of the fuselage and the thrust and pitch moment of the rear rotor. The mathematical expression of the interference model is given by adopting the idea of the small disturbance hypothesis. The yaw dynamics model is also improved by considering the motor's dynamics. The quadcopter's nonlinear model can be obtained by combining the rotor model, fuselage model, motor model, and interference model. Then, flight experiments are done at hovering and forward flight states to verify the established model, and the experiment results are in good agreement with the nonlinear model. Finally, the quadcopter's characteristic descriptive abilities of different accurate models are discussed to help designers to build a suitable quadcopter model according to the requirements.

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“…In [33], in order to ensure the stability of the morphing UAV during the wings change, H  robust control method was designed and the simulation and semi-physical results showed that it could suppress external interference caused by changes of structure. What's more, for the uncertainty of external disturbance, the extended state observer (ESO) can not only recover the system state but also estimate all the disturbances in real time [35]- [38]. In order to estimate the disturbances and uncertainties that affect the system, an ESO was proposed in [35], and then the estimated results were used for feedback linearization and embedded model control system, and good control accuracy was obtained.…”

Section: Introductionmentioning

confidence: 99%

“…What's more, for the uncertainty of external disturbance, the extended state observer (ESO) can not only recover the system state but also estimate all the disturbances in real time [35]- [38]. In order to estimate the disturbances and uncertainties that affect the system, an ESO was proposed in [35], and then the estimated results were used for feedback linearization and embedded model control system, and good control accuracy was obtained. In [38], an improved ESO based on sigmoid function was proposed to estimate the model uncertainties and external disturbance caused by the large attitude maneuver and complicated external environment during the re-entry phase of the reusable launch vehicle (RLV).…”

Section: Introductionmentioning

confidence: 99%

Wind Field Disturbance Analysis and Flight Control System Design for a Novel Tilt-Rotor UAV

Zhang

Wang

et al. 2020

IEEE Access

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The wind field has a great influence on the control stability of Tilt-rotor unmanned aerial vehicle (UAV), especially during the takeoff and landing phase. The airspeed of UAV is so small during these phases that it cannot generate stable aerodynamic forces, which will significantly reduce the wind robustness of Tilt-rotor UAV. In this paper, the disturbance of wind field is analyzed from two perspectives: the wind field acting on the UAV fuselage, which is regarded as external interference, and the wind acting on the propeller, which is considered as modeling error. After analyzing the interference mechanism of wind field, a generalized extended state observer (GESO) and a H robust control method with mixed sensitivity are proposed, which could empower the Tilt-rotor UAV with good interference suppression ability as well as better performance tracking ability. Finally, the laboratory simulation and flight experiment are studied. The results validate the theory and prove that the proposed method could resist the interference of wind field and shows excellent control effect. INDEX TERMS Tilt-rotor, unmanned aerial vehicle, wind field disturbance, generalized extended state observer, robust control.

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Control Design for UAV Quadrotors via Embedded Model Control

Cited by 28 publications

References 34 publications

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

Unknown System Dynamics Estimator-Based Anti-Disturbance Attitude Funnel Control for Quadrotors with Experimental Verifications

Nonlinear Modeling the Quadcopter Considering the Aerodynamic Interaction

Wind Field Disturbance Analysis and Flight Control System Design for a Novel Tilt-Rotor UAV

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