Immersion and Invariance-based Sliding Mode Attitude Control of Tilt Tri-rotor UAV in Helicopter Mode

Yu, Li; He, Guang; Zhao, Shulong; Wang, Xiangke

doi:10.1007/s12555-020-0110-9

Cited by 20 publications

(13 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…rather than entering inside the manifold  if the additive disturbance always exists and does not vanish. In addition, choose the same overall Lyapunov function as (37), then Equation (40) changes tȯ…”

Section: Robustness Results Without -Modificationmentioning

confidence: 99%

“…The aforementioned PDE becomes solvable by substituting the filter state for the integral state in some way, and then the resulting additive perturbance term brought by the discrepancy between the filter state and the actual state is cancelled via an appropriate choice of the scaling factor dynamic. Inspired by Reference 27, a great mass of research focus on pursuing dynamic scaling-based I&I adaptive controllers or observers in different plants, [28][29][30][31][32][33][34][35][36][37] which illustrates the effectiveness and superiority under this framework.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems

Xia

Yue

2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

A modular dynamic scaling-based immersion and invariance (I&I) adaptive control framework for a class of nonlinear system with parametric uncertainties is presented in this paper. The framework is based on an invariant manifold approach which allows for predefined target dynamics to be assigned to the closed-loop systems. The integrability obstacle typically inherent to I&I methodology is overcome by the matrix reconstruction and dynamic scaling technique.The prominent feature is that this methodology can be implemented without scaling factor, and hence the introduction of the scaling factor is just to prove the additive disturbance brought by the matrix reconstruction can be eliminated by constant feedback gains. Moreover, the bounded robustness against three different types of disturbance is verified. As an application, Euler-Lagrange systems with unknown inertia parameters are applied to illustrate the effectiveness of the proposed method.

show abstract

Section: Robustness Results Without -Modificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems

Xia

Yue

2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…Using the control Lyapunov function (CLF) defined with positive definite weight matrices ðQ, Γ ν , Γ d > 0Þ as shown in Equation ( 17), the ABSC structure and update laws for estimates ðb ν, dÞ can be derived to meet the Lyapunov stability criteria of Equation (18).…”

Section: Adaptive Backstepping Control Designmentioning

confidence: 99%

“…In general, reducing such undesirable effects is one of the most difficult tasks in rotorcrafts' control problems. An efficient way to deal with both model uncertainties and external disturbances is to design a disturbance observer (DOB) that has been extensively studied and applied to UAVs [17][18][19][20][21]. In these cases, both model uncertainties and external disturbances are expressed in dynamics as a bounded lumped disturbance.…”

Section: Introductionmentioning

confidence: 99%

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

Choi

Lee

et al. 2022

International Journal of Aerospace Engineering

View full text Add to dashboard Cite

This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy.

show abstract

“…Drone control strategies significantly increased in the recent decade coupled with studies in cooperative drone control [1][2][3], with examples shown in refs. [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

A novel approach to control four multi-rotor drones in cooperative paired control using relative Jacobian

2023

View full text Add to dashboard Cite

This work presents a new formulation to holistically control four cooperative multi-rotor drones controlled in two pairs. This approach uses a modular relative Jacobian with components consisting of the Jacobians of each individual drone. This type of controller relies mainly on the relative motion between the drones, consequently releasing unnecessary constraints inherent to the control of drones in absolute motion. We present the derivations of all the necessary equations of the modular relative Jacobian to control the four multi-rotor drones. We also present the derivations of the Jacobian for each drone. We implement our proposed method in the Gazebo RotorS simulation using four hexa-rotor drones modeled from Ascending Technologies called firefly drones. We present the simulation results and analyze them to show the effectiveness of our proposed approach.

show abstract

Immersion and Invariance-based Sliding Mode Attitude Control of Tilt Tri-rotor UAV in Helicopter Mode

Cited by 20 publications

References 28 publications

Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems

Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

A novel approach to control four multi-rotor drones in cooperative paired control using relative Jacobian

Contact Info

Product

Resources

About