Design of Dynamic Inversion and Explicit Model Following Flight Control Laws for Quadrotor UAS

Saetti, Umberto; Horn, Joseph F.; Lakhmani, Sagar; Lagoa, Constantino; Berger, Tom

doi:10.4050/jahs.65.032006

Cited by 6 publications

(6 citation statements)

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“…The inputs to the system are the forward, lateral, vertical, and heading control efforts

, and

. The table in Appendix B lists the values used for all the stability derivative constant terms, which were estimated for a similar quadrotor platform in [ 55 ].…”

Section: Methodsmentioning

confidence: 99%

Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness

Ohradzansky

Humbert

2022

Sensors

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Navigating unknown environments is an ongoing challenge in robotics. Processing large amounts of sensor data to maintain localization, maps of the environment, and sensible paths can result in high compute loads and lower maximum vehicle speeds. This paper presents a bio-inspired algorithm for efficiently processing depth measurements to achieve fast navigation of unknown subterranean environments. Animals developed efficient sensorimotor convergence approaches, allowing for rapid processing of large numbers of spatially distributed measurements into signals relevant for different behavioral responses necessary to their survival. Using a spatial inner-product to model this sensorimotor convergence principle, environmentally relative states critical to navigation are extracted from spatially distributed depth measurements using derived weighting functions. These states are then applied as feedback to control a simulated quadrotor platform, enabling autonomous navigation in subterranean environments. The resulting outer-loop velocity controller is demonstrated in both a generalized subterranean environment, represented by an infinite cylinder, and nongeneralized environments like tunnels and caves.

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“…The inputs to the system are the forward, lateral, vertical, and heading control efforts

, and

. The table in Appendix B lists the values used for all the stability derivative constant terms, which were estimated for a similar quadrotor platform in [ 55 ].…”

Section: Methodsmentioning

confidence: 99%

Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness

Ohradzansky

Humbert

2022

Sensors

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“…There is constraint on the prescribed performance condition (11) that make the calculation complicated. To avoid the problem, the attitude tracking error of the quadrotor can be designed by using an equivalent unconstrained prescribed performance condition as follows:…”

Section: Prescribed Performance Transformationmentioning

confidence: 99%

“…[3][4][5] The tracking problems of quadrotor UAV were widely drawn attention from lots of researchers by designing various control schemes including proportional-integral-derivative (PID), 6,7 liner quadratic regulator, 8 feedback linearization, 9 and so on. [10][11][12] The control performances of linear controller is poor when the quadrotor UAV is suffering from aggressive maneuvers operation or unknown disturbances. 13,14 Sliding mode control, which is able to reject and eliminate the disturbances, was developed for quadrotor UAV.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Robust Attitude Tracking Control of Quadrotor UAV with the Modified Rodrigues Parameter

Dou

Wen

2022

Measurement and Control

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In this paper, a novel adaptive attitude tracking control method is investigated to enhance tracking performance and robustness for a quadrotor unmanned aerial vehicle (UAV) against the modeling uncertainties and external disturbances. First, the attitude dynamics of a quadrotor UAV based on the modified Rodrigues parameter (MRP) is derived. Then, an adaptive dynamic surface technique with robust integral of the sign of the error (RISE) control approach are designed to improve the tracking performance and robustness of the quadrotor attitude control system suffering from the uncertainties and disturbances. A prescribed performance function is employed to improve the tracking performance of the quadrotor UAV by restraining the tracking errors range. The stability analysis proves the presented control scheme can guarantee all the close-loop control system signals are bounded and control system is uniformly ultimately bounded. Simulation results are carried out to demonstrate the superior and effective performance of the presented control method.

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“…A robust linear model-reference control method was presented in [7] with a constant feedback control gains matrix. In [8] the identification and the control of a quadrotor were presented using Dynamic Inversion and Explicit Model Following methods to meet certain aircraft data requirements. A feedforward model following the control technique was developed in [9] for a non-minimum phase local model network.…”

Section: Introductionmentioning

confidence: 99%

A New Observer-based Model- Reference Approach for Nonlinear Discrete-Time Systems with Application to Power Systems

Hassan¹,

Aljuwaiser²

2023

IJETAE

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In this paper, a novel observer-based modelreference technique is developed to control the performance of nonlinear discrete-time systems. Firstly, a linear or nonlinear model is chosen for which the dynamics are designed to satisfy the pre-specified performance behaviours of the nonlinear system as stated by the designer. The proposed approach is then used with the system to fulfil a point-by-point tracking of the pre-designed model trajectories. To achieve this goal, an observer is firstly used to predict the states and the output(s) at the next sampling point of the system to be controlled from the received set of measurements. The differences between the achieved predicted estimates and those of the model are then used to generate the necessary online closed-loop control actions to force the system trajectories to track those of the model at the next sampling instant of time, as desired. The stability of the closed-loop control system is investigated. To check the performance of the developed approach, it is then used to control the performance of a synchronous machine and a permanent magnet synchronous motor. The achieved results are presented to illustrate the effectiveness, simplicity, and applicability of the proposed design procedure

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Design of Dynamic Inversion and Explicit Model Following Flight Control Laws for Quadrotor UAS

Cited by 6 publications

References 0 publications

Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness

Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness

An Adaptive Robust Attitude Tracking Control of Quadrotor UAV with the Modified Rodrigues Parameter

A New Observer-based Model- Reference Approach for Nonlinear Discrete-Time Systems with Application to Power Systems

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