Dynamic observer‐based<i>H</i>∞ robust control for a ducted coaxial‐rotor UAV

Su, Chengzhi

doi:10.1049/cth2.12248

Cited by 7 publications

(5 citation statements)

References 33 publications

(95 reference statements)

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“…The mathematical model of the CDRUAV can be derived from the Newton-Euler equation. 30,31 The line motion equation in the NED inertial frame is deduced as…”

Section: Equations Of Motionmentioning

confidence: 99%

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Aerodynamic structural design and control for a new miniature coaxial dual-rotor unmanned aerial vehicle

Yan

Cheng

Cai

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article mainly introduces a design and control method for a new type of portable coaxial dual-rotor unmanned aerial vehicle. The coaxial dual-rotor unmanned aerial vehicle prototype is constructed using three-dimensional computer-aided design software, and its aerodynamic characteristics are analyzed via computational fluid dynamics. A 6-degree-of-freedom nonlinear dynamic model of the coaxial dual-rotor unmanned aerial vehicle is derived by considering the characteristics of coaxial rotors and the downwash airflow. A proportional–integral–derivative tracking scheme including an inner-loop attitude controller and an outer-loop position controller is developed to track the target position and attitude, respectively. Finally, numerical simulations and actual experimental tests are employed to demonstrate the validity of the developed coaxial dual-rotor unmanned aerial vehicle system.

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“…The mathematical model of the CDRUAV can be derived from the Newton-Euler equation. 30,31 The line motion equation in the NED inertial frame is deduced as…”

Section: Equations Of Motionmentioning

confidence: 99%

“…For example, crosswind turbulence is considered as a linear matrix space with wind speed as the first-order variable in the crosswind environment. 30 In this context, this work does not consider the impact of environmental disturbances.…”

Section: Cascade Pid Controller Designmentioning

confidence: 99%

Aerodynamic structural design and control for a new miniature coaxial dual-rotor unmanned aerial vehicle

Yan

Cheng

Cai

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…In addition, Zeno behavior is naturally excluded under the periodic event‐triggered sampling. An adaptive compensation control scheme is well designed to neutralize the actuator attacks. Compared with most existing results, 19–23 the proposed adaptive secure control approach can counteract the arbitrary unknown attack signal in an adaptive way rather than the previous robust‐based design 24 . Only adaptive compensation scheme is augmented to the original controller rather than altering its original design.…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered adaptive secure lateral stabilization for autonomous vehicles under actuator attacks

Sun,

Chen,

Shen

et al. 2024

Adaptive Control & Signal

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SummaryFalse data injection attacks can disrupt the steering control actions and make a real threat to both the security and safety of autonomous vehicles. In this paper, a secure event‐triggered lateral control approach of autonomous vehicles subject to actuator attacks is investigated. Firstly, an arbitrary unknown actuator attacks is considered in the secure lateral steering control of autonomous vehicles. Thus, to save communication resources for the limited bandwidth CAN bus, the periodic event‐triggered transmission scheme is utilized, transforming the established lateral steering control into a time‐delay system through the consideration of periodic event‐triggered sampling. Then, an adaptive control compensation scheme is developed to mitigate the malicious effects caused by actuator attacks. The proposed secure control approach is skilled in compensating the unknown attacked steering control actions in an adaptive way. The stabilization criteria under the adaptive secure control law is well derived by Lyapunov–Krasovskii method and some linear inequality matrices operations. At last, the effectiveness of the proposed secure control scheme is verified by some numerical experiments borrowed from a practical vehicle.

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“…Indri et al [ 28 ] applied of robust

control to the industrial robotic arm to solve the tracking problem of the robotic arm under the action of unknown disturbances. Xu et al [ 29 ] studied the quadrotor UAV flight problem inside a culvert, and used robust

control based on the state observer for dynamic planning of UAV flight state inside a culvert. Wang et al [ 30 ] used the

robust control strategy to solve the wind turbine hydraulic pitch system control problem, which greatly reduced the system error of wind turbines.…”

Section: Introductionmentioning

confidence: 99%

Research on Real-Time Robust Optimization of Perishable Supply-Chain Systems Based on Digital Twins

Zhang

et al. 2023

Sensors

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Aiming at the real-time robust optimization problem of perishable supply-chain systems in complex environments, a real-time robust optimization scheme based on supply-chain digital twins is proposed. Firstly, based on the quantitative logical relationship between production and sales of single-chain series supply-chain system products, the state space equation of the supply-chain system with logical characteristics, structural characteristics, and quantitative characteristics was constructed, and twin data were introduced to construct the digital twins of supply chains based on the state-space equation. Secondly, the perishable supply-chain system in complex environments was regarded as an uncertain closed-loop system from the perspective of the state space equation, and then a robust H∞ controller design strategy was proposed, and the supply-chain digital twins was used to update and correct the relevant parameters of the supply-chain system in real-time, to implement the real-time robust optimization based on the supply-chain digital twins. Finally, the simulation experiment was carried out with a cake supply-chain production as an example. The experimental results show that the real-time updating of relevant parameters through the digital twins can help enterprise managers to formulate reasonable management plans, effectively avoid the shortage problem of enterprises in the cake supply-chain system, and reduce the maximum inventory movement standard deviation of each link by 12.65%, 6.50%, and 14.87%, and the maximum production movement standard deviation by 70.21%, 56.84%, and 45.19%.

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Dynamic observer‐basedH∞ robust control for a ducted coaxial‐rotor UAV

Cited by 7 publications

References 33 publications

Aerodynamic structural design and control for a new miniature coaxial dual-rotor unmanned aerial vehicle

Aerodynamic structural design and control for a new miniature coaxial dual-rotor unmanned aerial vehicle

Event‐triggered adaptive secure lateral stabilization for autonomous vehicles under actuator attacks

Research on Real-Time Robust Optimization of Perishable Supply-Chain Systems Based on Digital Twins

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