Dynamic Inversion Control of Quadrotor with a Suspended Load

Das, Hemjyoti

doi:10.1016/j.ifacol.2018.05.030

Cited by 19 publications

(3 citation statements)

References 8 publications

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“…Recent developments in incremental nonlinear dynamic inversion (INDI) control have led to its widespread use for aerospace control applications [11], [12]. INDI combines the advantages of an incremental form with that of a modelbased nonlinear dynamic inversion (NDI) [13] to result in a robust controller that relies less on the system model and depends more on the accuracy of sensor feedback [12]. Currently, there is no available research work that exploited INDI control for pneumatic actuation, which is the main focus of this paper.…”

Section: Introductionmentioning

confidence: 99%

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

Das

Pool

Kampen

2021

2021 European Control Conference (ECC)

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Pneumatic cylinders provide an environmentfriendly actuation means by minimizing the leakage of any harmful industrial fluids, as occurs for hydraulic actuators. However, pneumatic actuation has not been utilized widely for industrial servo applications due to its highly nonlinear nature. Incremental nonlinear dynamic inversion (INDI) is a form of nonlinear dynamic inversion (NDI) that relies less on plantmodel information, and is thus inherently robust to mismatches in the known plant-model, and also to external disturbances. Developing an incremental nonlinear controller for a pneumatic system is the main focus of this research article, which is accomplished by utilizing a cascaded-control approach, where the inner-loop INDI tracks a given force and the outer-loop NDI is for controlling the piston-position. Moreover, realistic sensor noises have been added in the simulation and the robustness of the incremental approach is demonstrated with respect to a baseline PID controller.

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Section: Introductionmentioning

confidence: 99%

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

Das

Pool

Kampen

2021

2021 European Control Conference (ECC)

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“…1,2 Hence, several groups of researchers have developed a variety of linear and nonlinear control laws to hold the flight performance of the quadrotor UAV in application of different fields. [3][4][5] In Zheng et al, 6 a second order sliding mode controller was suggested for a quadrotor UAV to perform asymptotic tracking control. In Sarabakha et al, 7 a fuzzy state-feedback controller based on the Takagi-Sugeno fuzzy model was designed to guarantee the stability of a quadrotor UAV.…”

Section: Introductionmentioning

confidence: 99%

High accuracy robust attitude tracking control application on quadrotor UAV with the prescribed performance

Dou

Tang

Wen

2020

Advances in Mechanical Engineering

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In this paper, a high accuracy attitude tracking control is presented for a quadrotor unmanned aerial vehicle (UAV) under the model uncertainties and external unpredictable disturbances by using a robust feedback control method. First, the cascade attitude dynamics of a quadrotor UAV is derived with the lumped disturbances. Then, a backstepping adaptive modified robust integral of the sign of the error (RISE) control is designed to improve the robustness of the control system against the disturbances. For arriving high accuracy tracking under the disturbances, a prescribed performance control algorithm is employed in combination to hold the transient state performance where the convergence rate is faster than the prescribed value, and the maximum overshoot is less than the prescribed value. The stability analysis is carried out to prove that the presented controller could guarantee that the closed-loop system is asymptotically stable, and the tracking feedback errors can converge to an arbitrarily small value near zero. The superior performance of the proposed control method is illustrated in simulations against the nonlinear lumped disturbances, and the benefits of the proposed robust controller is corroborated by comparing with the existed controller.

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“…Los autores de (Raffo et al, 2016), (Raffo et al, 2018) diseñan un sistema de control anti-balanceo para el seguimiento de trayectoria a través de una linealización entrada-salida del modelo no-lineal del vehículo seguida de un control lineal basado en control robusto H 2 / H ∞ . En (Das, 2018) se presenta un control de trayectoria basado en inversión dinámica del modelo del sistema para obtener un vuelo estable con un balanceo limitado de la carga. Por otro lado, en (Cruz et al, 2017) se discute una estrategia de control específicamente para la fase de elevado de un quadrotor con una carga suspendida que también emplea el método de la inversión dinámica.…”

Section: Introductionunclassified

Control deslizante fraccionario de la trayectoria y orientación de un quadrotor con cargas suspendidas desconocidas

Ullah

Ali

Ibeas

et al. 2019

Rev. iberoam. autom. inform. ind.

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Este artículo diseña un sistema de control para el problema de seguimiento de trayectorias de un vehículo quadrotor con una carga suspendida desconocida. La presencia de esta carga desconocida incrementa considerablemente la complejidad del problema y su oscilación actúa como una perturbación incierta que afecta a la dinámica propia del vehículo. De esta forma, la trayectoria global del quadrotor puede verse enormemente afectada a pesar de la existencia de un controlador nominal para él. Este artículo propone el diseño de un control deslizante de orden fraccionario para la solución de este problema. Junto con el diseño de la ley de control, se prueba la estabilidad del sistema en lazo cerrado a través del método de Lyapunov para sistemas fraccionarios. El desempeño obtenido por el controlador propuesto se compara con el control en modo deslizante clásico observando que el controlador propuesto mejora significativamente los resultados obtenidos.

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Dynamic Inversion Control of Quadrotor with a Suspended Load

Cited by 19 publications

References 8 publications

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

Incremental Nonlinear Dynamic Inversion Control of Long-Stroke Pneumatic Actuators

High accuracy robust attitude tracking control application on quadrotor UAV with the prescribed performance

Control deslizante fraccionario de la trayectoria y orientación de un quadrotor con cargas suspendidas desconocidas

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