Demonstration of a model-free backstepping control on a 2-DOF laboratory helicopter

Huang, Jingwen; Fan, You; Xin, Ying; Qin, Zhi‐Chang

doi:10.1007/s40435-020-00644-9

Cited by 5 publications

(2 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In this case, Lyapunov functions are utilized to ensure stability as Lyapunov's theorem is the basis for designing backstepping control (BC) and sliding mode control (SMC) methods. For BC, Huang et al [45] displayed, practically and systematically, a model-free backstepping (MFBS) control scheme to solve the problems of model uncertainties, coupling effects, and timevarying parameters of a 2-DOF helicopter system where the results showed the superiority of the MFBS compared to LQR controller. Haruna et al [46] also proposed a new adjusted dual boundary conditional integral BC to achieve stability, efficient asymptotic output regulation without degrading the transient execution, accurate trajectory tracking, and precise attainment of a specific position.…”

Section: Twin-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

View full text Add to dashboard Cite

This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

show abstract

Section: Twin-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

View full text Add to dashboard Cite

show abstract

“…Dentre as técnicas de controle aplicadas, pode-se destacar as seguintes: a abordagem de Lyapunov [12], a qual garante, sob certas condições, a estabilidade assintótica do quadricóptero; a estrutura de realimentação PD, Proporcional-Derivativo [13,14], com propriedade de convergência exponencial devido à compensação dos termos Coriolis e giroscópicos, e a estrutura PID, Proporcional-Integral-Derivativo [7,15], a qual não requer o conhecimento de parâmetros específicos do modelo e a lei de controle é muito mais fácil de implementar, porém com robustez limitada contra perturbações; o controle RLQ (Regulador Linear Quadrático) [16], e controle H ∞ [4], cuja vantagem é que exibem boas propriedades de robustez: margem de ganho infinitamente crescente, margem de fase entre ±60 • e boa tolerância à nãolinearidades; controle adaptativo [17,18,19], que fornecem bom desempenho com parâmetros incertos e dinâmicas não modeladas. Existem outros algoritmos de controle para melhorias do desempenho de sistemas quadrirrotores, tais como técnicas fuzzy [1,20], redes neurais [21], controle backstepping [22,23], controle baseado em realimentação visual [24,25], e controle baseado em aprendizagem por reforço [26,27,28]. Em [29] são destacados vários projetos de melhoria de estabilidade para quadricópteros, que são capazes de realizar voos autônomos apenas com o uso de sensores a bordo para estimação da atitude, altitude, posição horizontal e voos trans-lacionais.…”

Section: Introductionunclassified

Optimal Control and Adaptive Learning for Stabilization of a Quadrotor-type Unmanned Aerial Vehicle via Approximate Dynamic Programming

Souza

Rêgo

Sousa

et al. 2022

RITA

View full text Add to dashboard Cite

The development of an optimal controller for stabilization of a quadrotor system using an adaptive critic structure based on policy iteration schemes is proposed in this paper. This approach is inserted in the context of Approximate Dynamic Programming and it is used to solve optimal decision problems on-line, without requiring complete knowledge of the system dynamics model to be controlled. The main feature of the adaptive critic design method that allows for on-line implementation is that it solves the Bellman optimality equation in a forward-in-time fashion, whereas traditional dynamic programming requires a backward-in-time procedure. This feedback control design technique is able to tune the controller parameters on-line in the presence of variations in plant dynamics and external disturbances using data measured along the system trajectories. Computational simulation results based on a quadrotor model demonstrate the effectiveness of the proposed control scheme.

show abstract

How could data integrate with control? A review on data-based control strategy

Huang

Gao

2020

Int. J. Dynam. Control

View full text Add to dashboard Cite

Demonstration of a model-free backstepping control on a 2-DOF laboratory helicopter

Cited by 5 publications

References 24 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Optimal Control and Adaptive Learning for Stabilization of a Quadrotor-type Unmanned Aerial Vehicle via Approximate Dynamic Programming

How could data integrate with control? A review on data-based control strategy

Contact Info

Product

Resources

About