Feedback linearization control of a quadrotor

Ermeydan, Ahmet; Kaba, Aziz

doi:10.1109/ismsit52890.2021.9604617

Cited by 5 publications

(4 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With σ defined in (17), the σ-dynamics in (13) and the smooth control law (14), one has that σ = σ − σ = [−k p u av 0 + k p u n + (l 0 −a p )ẏ+k p (d −C η η/k p )− σm ]− σ. Moreover, by using the predictor dynamics in (18) and the relationship σ = σ − σ, one can further obtain…”

Section: A Existence Of Ideal Sliding Modementioning

confidence: 99%

“…This is the author's version which has not been fully edited and content may change prior to final publication. The DSSC algorithm is composed by: the tracking error in (9), the relative degree one variable σ in (10), predictor in (18) with the discontinuous term in ( 16), modulation function in (33), sliding variable σ in (17), DSSC law in (14), complete control in (11) and smooth averaging filter in (15).…”

Section: Remark 2 (Modulation Function Design)mentioning

confidence: 99%

“…Classic techniques such as the Proportional-Integral-Derivative (PID) control have been applied to most existing flight control systems, because of their simple design and implementation, when is reasonable to approximate the vehicle dynamics to a linear model [7]- [9], with uniformly norm-bounded or almost constant disturbances. When the linearization process [10] is not valid, non-linear control methods come into play, such as optimization strategies for path planning [11], linear quadratic regulation control (LQR) [12], [13], feedback linearization control schemes [14], [15] and robust strategies via sliding modes [16], [17]. In addition, the performance of classic techniques is, in general, limited by the presence of uncertainties, disturbances, and unmodelled dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

Peixoto,

Serrantola,

Lizarralde

2024

IEEE Access

View full text Add to dashboard Cite

This paper proposes a sliding mode controller with a smooth control signal for a class of linear plants with nonlinear input state-dependent disturbance. The proposed controller is obtained by allowing some constant parameters of the earlier Smooth Sliding Control (SSC) to vary as a function of the output tracking error and its time derivative, improving the control chattering alleviation in practical implementations. Furthermore, during the sliding mode, the new scheme can synthesize a range of controllers, such as fixed gain PI controllers and approximations of the Super-Twisting Algorithm (STA). A complete closed-loop stability analysis is provided, leading to global stability properties, exact output regulation, and practical output tracking. In addition, realistic simulation results with an Unmanned Aerial Vehicle (UAV) model, incorporating aerodynamic effects and internal closed-loop controllers, are obtained and validated via experiments with a commercial hexacopter.INDEX TERMS Sliding-Mode Control, Chattering Avoidance, Unmodelled Dynamics, Super-Twisting Algorithm (STA), Unmanned Aerial Vehicle (UAV).Additionally, beyond affecting UAV's dynamics by adding manipulators, UAV geometric parameters can be variable over time [30] and the pick-and-place task can generate mass variation [31], [32]. In [30], a Fast Terminal Sliding Mode Controller was applied to guarantee the flight stability and rapid convergence of the states in finite time with a reconfig-

show abstract

Section: A Existence Of Ideal Sliding Modementioning

confidence: 99%

Section: Remark 2 (Modulation Function Design)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

Peixoto,

Serrantola,

Lizarralde

2024

IEEE Access

View full text Add to dashboard Cite

show abstract

“…A linearizing control law can be shown as follows (Ermeydan and Kaba, 2021): where A diffeomorphism also can be defined as: A linear system can be obtained if the diffeomorphism is applied to the nonlinear system: where w is linear control law and A c and B c represent canonical Brunowski form: where: Since the system is now linear, a linear control method can be applied. Therefore, LQR is preferred because it has easy design and application for linear control of the system.…”

Section: Design Environmentmentioning

confidence: 99%

Improved particle filter-based estimation of a quadrotor subjected to uncertainties

Kaba

Ermeydan

2022

AEAT

Self Cite

View full text Add to dashboard Cite

Purpose The purpose of this paper is to present an improved particle filter-based attitude estimator for a quadrotor unmanned aerial vehicle (UAV) that addresses the degeneracy issues. Design/methodology/approach Control of a quadrotor is not sufficient enough without an estimator to eliminate the noise from low-cost sensors. In this work, particle filter-based attitude estimator is proposed and used for nonlinear quadrotor dynamics. But, since recursive Bayesian estimation steps may rise degeneracy issues, the proposed scheme is improved with four different and widely used resampling algorithms. Findings Robustness of the proposed schemes is tested under various scenarios that include different levels of uncertainty and different particle sizes. Statistical analyses are conducted to assess the error performance of the schemes. According to the statistical analysis, the proposed estimators are capable of reducing sensor noise up to 5x, increasing signal to noise ratio up to 2.5x and reducing the uncertainty bounds up to 36x with root mean square value of as low as 0.0024, mean absolute error value of 0.036, respectively. Originality/value To the best of the authors’ knowledge, the originality of this paper is to propose a robust particle filter-based attitude estimator to eliminate the low-cost sensor errors of quadrotor UAVs.

show abstract

An Application of the Dynamic Decoupling Techniques for a Nonlinear TITO Plant

Król,

Dworak

2023

Advanced, Contemporary Control

View full text Add to dashboard Cite

Feedback linearization control of a quadrotor

Cited by 5 publications

References 12 publications

Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

Dynamic Smooth Sliding Control Applied to UAV Trajectory Tracking

Improved particle filter-based estimation of a quadrotor subjected to uncertainties

An Application of the Dynamic Decoupling Techniques for a Nonlinear TITO Plant

Contact Info

Product

Resources

About