Discrete-Time Adaptive Neural Tracking Control and Its Experiments for Quadrotor Unmanned Aerial Vehicle Systems

Zhang, Xiuyu; Wang, Yue; Zhu, Guoqiang; Chen, Xinkai; Su, Chun‐Yi

doi:10.1109/tmech.2021.3112470

Cited by 25 publications

(13 citation statements)

References 46 publications

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“…For instance, altitude and yaw angle controllers were separated into control pairs x-pitch and y-roll, and an ultimate control was developed accordingly [112,113]. Alternatively, a hybrid hierarchical backstepping (HHB) control structure uses two separate backstepping approaches for both the translation and rotational dynamics, and coupling is performed using a virtual input in [12,114] and a geometric approach in [115].…”

Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Asignacion,

Satoshi

2024

Drones

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The rising demand for autonomous quadrotor flights across diverse applications has led to the introduction of novel control strategies, resulting in several comparative analyses and comprehensive reviews. However, existing reviews lack a comparative analysis of experimental results from published papers, resulting in verbosity. Additionally, publications featuring comparative studies often demonstrate biased comparisons by either selecting suboptimal methodologies or fine-tuning their own methods to gain an advantageous position. This review analyzes the experimental results of leading publications to identify current trends and gaps in quadrotor tracking control research. Furthermore, the analysis, accomplished through historical insights, data-driven analyses, and performance-based comparisons of published studies, distinguishes itself by objectively identifying leading controllers that have achieved outstanding performance and actual deployment across diverse applications. Crafted with the aim of assisting early-career researchers and students in gaining a comprehensive understanding, the review’s ultimate goal is to empower them to make meaningful contributions toward advancing quadrotor control technology. Lastly, this study identifies three gaps in result presentation, impeding effective comparison and decelerating progress. Currently, advanced control methodologies empower quadrotors to achieve a remarkable flight precision of 1 cm and attain flight speeds of up to 30 m/s.

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Section: Smc and Bk Control Techniquesmentioning

confidence: 99%

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Asignacion,

Satoshi

2024

Drones

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“…In fact, the pre-assigned exponential regulation problem exists in some practical systems, [53][54][55][56][57][58] for example, the the exponential regulation control of active suspension systems can reduce the vibration from the road fluctuation and it can improve the comfort of the active suspension systems. 59 Thus, the pre-assigned exponential regulation problem is a hot.…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

The use of adaptive multiple models for predefined exponential stability of control systems of uncertain discrete‐time nonlinear objects

Zhang,

Wang,

Wang

2023

Adaptive Control & Signal

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SummaryIn this work, an adaptive multiple model pre‐assigned exponential convergence control scheme based on the time varying exponential function is demonstrated for a class of discrete‐time nonlinear systems. For coping with the noncausality problem from previous adaptive backstepping design method of nonlinear discrete‐time systems, a first‐order recursive filter is used in controller design procedures and the n‐step prediction model is not needed, thereby reducing the computational burden effectively. The time varying function is employed to force all states variables to convergence to zero with a pre‐defined rate which does not rely on the initial conditions of systems. In addition, the multiple model set is constructed to address unknown parameters problem and further the second level adaptive algorithm of unknown parameters is developed. A characteristic feature of the second‐level multi‐model adaptation algorithm is that it dynamically adapts to time changes in the identified model (it uses identification information better than the switching multiple model control). In a unified framework of second level adaption, a first‐order recursive filter and backstepping technique, a pre‐assigned exponential convergence controller is presented. Finally, the results about discrete‐time pre‐assigned exponential convergence method are compared with other methods using two case studies.

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“…Theorem 2. Considering the quadrotor UAVs (4) under the delta operator framework, the adaptive sliding-mode attitude controller is designed as shown in ( 27) and ( 28), all the attitudes of the quadrotor UAVs can be driven towards the designed sliding surface σ i (t k ) = 0 shown in (14), and the asymptotical stablity is achieved.…”

Section: Adaptive Sliding Mode Controller Designmentioning

confidence: 99%

“…It is worth noting that most of the results on adaptive sliding mode control of the quadrotor are based on the continuous-time controller, and the controller structure is relative complex. In fact, it was said in [14] that a discrete-time control scheme is much more suitable in practicable situations since the utilization of computer and network in the quadrotor, which is a challenging task has not been well solved so far.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

Zheng

et al. 2022

Symmetry

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In this paper, a novel adaptive sliding-mode control algorithm is proposed for the attitude control of quadrotor unmanned aerial vehicles (UAVs) under the delta operator framework. First, the delta operator technique is used to discretize the attitude control systems of a quadrotor UAV. Then, based on the linear matrix inequality technique, a linear sliding surface is designed to ensure the asymptotical stability of the quadrotor UAV attitude control system during the sliding motion process. Second, by the estimated external disturbance using a radical basis function (RBF) neural network, an adaptive sliding-mode attitude controller is designed such that the states of the quadrotor UAV attitude systems can be driven towards the desired sliding surface, and thus the attitude control objective of the qudarotor UAV is achieved. Compared with the traditional adaptive sliding-mode control algorithm, the proposed adaptive sliding-mode control algorithm can effectively realize the attitude control of a quadrotor UAV subject to strong disturbances and couplings. Finally, comparisons of the simulation results verify the effectiveness and superiority of the control algorithm proposed in this paper.

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Discrete-Time Adaptive Neural Tracking Control and Its Experiments for Quadrotor Unmanned Aerial Vehicle Systems

Cited by 25 publications

References 46 publications

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

Historical and Current Landscapes of Autonomous Quadrotor Control: An Early-Career Researchers’ Guide

The use of adaptive multiple models for predefined exponential stability of control systems of uncertain discrete‐time nonlinear objects

Adaptive Sliding Mode Attitude Control of Quadrotor UAVs Based on the Delta Operator Framework

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