Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

Tofigh, Mohamad Ali; Mahjoob, M. J.; Ayati, Moosa

doi:10.1002/rnc.3885

Cited by 19 publications

(5 citation statements)

References 27 publications

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“…There are a wide variety of robust tracking controllers for robotic applications [19] among which the sliding mode controller has been a well-known technique for uncertain systems [20,21]. Also, fractional controllers (compared to conventional ones) offer better performance, due to more tunable parameters [22,23].…”

Section: Introductionmentioning

confidence: 99%

Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

Tofigh,

Shah‐Mohammadi‐Azar,

Rezazadeh

et al. 2023

Asian Journal of Control

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In this paper, a tracking controller based on a non‐integer sliding surface is proposed for a magneto‐electro‐elastic (MEE) fluid‐conveying microtube robot. The smart/adaptive MEE material enables us to control the robot with no need for external sensors and actuators. The micro‐robot lateral motion is modeled by Euler–Bernoulli beam equations. The governing equation of the robot is derived using the constitutive equations of MEE materials and Maxwell's principle followed by Hamilton's variational method. Based on the extracted dynamic model, a novel non‐integer order sliding mode controller is introduced to suppress the microtube vibration and to provide robust path following for the robot tip. This control approach is compatible with the parameter‐varying nature of the robot dynamics. Theoretical analyses, based on Lyapunov theory, are also conducted to verify the stability of the closed‐loop system. Comparative simulations are finally performed to show the efficiency of the proposed system in comparison with the conventional micro tubes made of smart materials and with an integer order sliding mode controller (SMC). The results demonstrate that the proposed robot properly meets the performance requirements in terms of vibration suppression and trajectory tracking, even in the presence of disturbances.

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Section: Introductionmentioning

confidence: 99%

Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

Tofigh,

Shah‐Mohammadi‐Azar,

Rezazadeh

et al. 2023

Asian Journal of Control

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“…Quadcopters have been the most preferred multirotor aerial robot configuration for civilian applications [1,2]. Due to their simplicity and versatility, quadcopters have attracted the attention of a large part of control and robotic scientific communities in front of other types of UAVs [3].…”

Section: Introductionmentioning

confidence: 99%

Robust bounded control scheme for quadrotor vehicles under high dynamic disturbances

et al. 2023

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In this paper, an optimal bounded robust control algorithm for secure autonomous navigation in quadcopter vehicles is proposed. The controller is developed combining two parts; one dedicated to stabilize the closed-loop system and the second one for dealing and estimating external disturbances as well unknown nonlinearities inherent to the real system's operations. For bounding the energy used by the system during a mission and, without losing its robustness properties, the quadratic problem formulation is used considering the actuators system constraints. The resulting optimal bounded control scheme improves considerably the stability and robustness of the closed-loop system and at the same time bounds the motor control inputs. The controller is validated in real-time flights and in unconventional conditions for high wind-gusts and LoE -Loss of Effectiveness-in two rotors. The experimental results demonstrate the good performance of the proposed controller in both scenarios.

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“…These complexities lead to the implementation of various linear and nonlinear methods for the control of this vehicle. 2 For example, a proportional–integral–derivative (PID) controller with proven stability via the Lyapunov theorem can be used to control the quadrotor. 3 A linear–quadratic regulator (LQR) can also be applied to control the quadrotor motion to achieve higher accuracy and lower tracking error than PID.…”

Section: Introductionmentioning

confidence: 99%

Modeling, fault detection, and stabilization of quadrotor unmanned aerial vehicle with rotor thrust deviation fault

Ayati

Rezaei

Aghakhani

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study deals with the thrust deviation of quadrotors during a flight accident. This is a novel structural fault wholly ignored in previous studies, and its kinematic and dynamic equations are developed using the Newton law and differentiating the angular momentum equation. The thrust deviation fault has been detected using the governing model of the faulty system, Thau observer, and calculation of residual value. For evaluation of the performance of the proposed fault detection method, it is assumed that limited disturbances are applied to the system before the fault occurrence. Besides, to land the quadrotor affected by the deviation of one of its rotors, the ordinary sliding mode controller is replaced by a modified one. This controlling procedure consists of two steps. First, the deviation angles are identified using the Extended Kalman Filter. Then, these angles are used to calculate the appropriate inputs that are the functions of rotational speed of rotors. The combination of this modified control unit and model-based fault detection method has improved the robustness of the system in the presence of the structural fault and has maintained the system’s controlling performance in fault-free situations.

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Dynamic modeling and nonlinear tracking control of a novel modified quadrotor

Cited by 19 publications

References 27 publications

Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

Fractional‐order sliding mode control for a novel magneto‐electro‐elastic microtube robot

Robust bounded control scheme for quadrotor vehicles under high dynamic disturbances

Modeling, fault detection, and stabilization of quadrotor unmanned aerial vehicle with rotor thrust deviation fault

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