Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure

Lee, Seung Jae; Jang, Inkyu; Kim, H. Jin

doi:10.1109/lra.2020.3013862

Cited by 16 publications

(13 citation statements)

References 11 publications

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“…This section shows that sliding mode control has many more perks than other control designs. It has one issue of chattering phenomenon, which is high number of oscillations that appear on four rotors of underactuated quadrotor [50]. Researchers have hybridized SMC with fuzzy logic control (FLC) [51] to improve the performance and reduce the chattering or Zeno phenomenon.…”

Section: Literature Reviewmentioning

confidence: 99%

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

et al. 2021

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The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to the degree of freedom (DOF); thus, it is a strenuous task to stabilize its attitude and positions. Moreover, an induction of unmodelled dynamic factors and uncertainties make it more difficult to control its maneuverability. In this paper, a model-free based single-dimension fuzzy sliding mode control (MFSDF-SMC) is proposed to control the attitude and positions of underactuated quadrotor UAV. The paper discusses the kinematic and dynamic models with unmodelled dynamic factors and unknown external disturbances. These unmodelled factors and disturbances may lead the quadrotor towards failure in tracking specific trajectory and may also generate some serious transient and steady-state issues. Furthermore, to avoid the problem of gimbal lock, the model is amalgamated with hyperbolic function to resolve the singularity issues dully developed due to Newton Euler’s dynamic modeling. The simulation results performed for MFSDF-SMC using MATLAB software R2020a are compared with conventional sliding mode control, fuzzy-based sliding control and single-dimension fuzzy-based sliding mode control without a model-free approach. The design and implementation of the model-free single dimension-based fuzzy sliding mode control (MFSDF-SMC) with an updated Lyapunov stability theorem is presented in this work. It is observed that MFSDF-SMC produces robust trajectory performance therefore, and the manuscript suggests the experimental setup to test the proposed algorithm in a noisy environment keeping the same conditions. The verification of the equipment used and its effective demonstration is also available for the reader within the manuscript.

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Section: Literature Reviewmentioning

confidence: 99%

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

et al. 2021

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“…is paper proposes dual-loop single-dimension fuzzy sliding model control design for helical trajectory tracking using position estimator and disturbance observer design because sliding mode control is insensitive to unmodelled dynamic factors, but it generates high oscillations [42]. To reduce this oscillatory effect, one may find the fusion of SMC with fuzzy logic control (FLC) [43].…”

Section: Research Backgroundmentioning

confidence: 99%

“…By using equation (42), one may find the closed-loop stability of the proposed underactuated quadrotor unmanned aerial vehicle (QUAV). is can be possible mathematically if one derives the eigenvalues of the terms, that is, A 1 − B 1 K x and A x − L gx C x , since the expressions such as (A 1 , B 1 ) and A x , C x are controllable and observable.…”

Section: Stability Of the Proposed Closed-loop Control Designmentioning

confidence: 99%

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Abro

Ali

Zulkifli

et al. 2021

Mathematical Problems in Engineering

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The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbances. The manuscript consists of the derivations related to the kinematics and dynamics of quadrotor dully derived using the Newton Euler approach. It is one of the strenuous tasks to stabilize and control the quadrotor for helical trajectory tracking since it is an underactuated mechatronic system. In addition to this, with inclusion of unmodelled dynamic factors, it faces some of the serious transient and steady-state issues including Zeno noise. In this research manuscript, dual-loop single-dimension fuzzy sliding mode control (DLSDF-SMC) is proposed to improve the helical trajectory tracking performance, and to tackle the unmodelled dynamic factors, a state feedback controller is proposed consisting of a position estimator and disturbance observer design. The entire system is distributed into two subsystems such that within the angular subsystem, the attitude control is proposed using DLSDF-SMC, and for the translational subsystem, the paper proposes the position control design based on the hyperbolic function to avoid the gimbal lock issue. The overall stability of the proposed closed-loop control scheme is also proved. The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs. This work demonstrates that the DLSDF-SMC control technique with position estimator and disturbance observer design in feedback not only improves the aggressive maneuvers while tracking the helical trajectory but also tackles the transient and steady-state issues.

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“…In this paper linear ESO is amalgamated with dual‐loop single dimension fuzzy‐based sliding mode control (DLSDF‐SMC) to estimate the unmodeled dynamic factors and external disturbances and to enable the underactuated quadrotor for tracking the helical trajectory in smooth way. Since the conventional SMC is insensitive to unmodeled dynamic factors, it generates high number of oscillations at four rotors of an underactuated quadrotor known as zeno or chattering effect [34]. To investigate further and to resolve this issue, author hybridized the conventional SMC with FLC [35] and in this way the chattering effect has been reduced.…”

Section: Introductionmentioning

confidence: 99%

Dual‐loop single dimension fuzzy‐based sliding mode control design for robust tracking of an underactuated quadrotor craft

Abro

Zulkifli

Asirvadam

2022

Asian Journal of Control

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This manuscript presents an intelligent control design for the helical trajectory tracking of an underactuated quadrotor. One may see that the entire kinematics and dynamics are derived using Newton Euler approach. Since the quadrotor is one of the nonlinear and underactuated systems (where degree of freedom is greater than the number of control inputs) and with the induction of unmodeled dynamic factors and uncertainties, it is a highly unstable system. To stabilize, the linear extended state observer is proposed along with dual‐loop single dimension fuzzy‐based sliding mode control (DLSDF‐SMC). The entire system has been partitioned into two subsystems, that is, translational and rotational subsystems. Within the rotational subsystem, the attitude controller is proposed using DLSDF‐SMC, whereas for translational subsystem, paper proposes the position control design based on the hyperbolic functions to avoid the gimbal lock and an issue of singularity. The simulation work for proposed algorithm is performed using MATLAB and Simulink that are compared with conventional sliding mode control (SMC) and fuzzy‐based SMC control techniques. In addition to this, one may also find the hardware configuration that validates the software results.

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Fail-Safe Flight of a Fully-Actuated Quadrotor in a Single Motor Failure

Cited by 16 publications

References 11 publications

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

Dual‐loop single dimension fuzzy‐based sliding mode control design for robust tracking of an underactuated quadrotor craft

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