Introducing switched adaptive control for quadrotors for vertical operations

Abstract

Summary With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping of payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly unknown) payload cause considerable changes in the system dynamics. However, a systematic control solution to tackle such interchanging dynamical behavior is still missing. This paper proposes a switched dynamical framework to capture the interchanging dynamics of a quadrotor during vertical operations and a robust adaptive control solution to tackle such dynamics when it is unknown. The stability of the closed‐loop system is studied analytically and the effectiveness of the proposed solution is verified via simulations.

Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

“…However, LPV controllers are also known to require considerable computational resources. Other control approaches have been tested with regard to their ability to cope with variations in the vertical dynamics of quadcopters, including a switched adaptive control (Sankaranarayanan and Roy, 2018) and an adaptive prescribed performance control (Hua et al, 2018). However, the applicability of these approaches was never tested experimentally.…”

Iterative feedback tuning for optimal repetitive constraint‐following control of uncertain mechanical systems using Udwadia–Kalaba theory

“…As for uncertain underactuated EL systems, References 4 presented a robust adaptive control. Unlike other control strategies using segregated actuated or non‐actuated dynamics, the method in References 4 is structure‐independent making it a more general control scheme for various EL systems 5 . A performance‐based iterative learning algorithm is proposed in Reference 6 for a bilateral upper limb robot, which quickly finds optimal patient‐orientated parameters for given training trajectories.…”

Control for hybrid systems: Applications and methods for adaptation and optimality

“…New stability conditions and control designs based on numerical methods, including linear matrix inequalities and gradient based optimization methods, are introduced to address time delays, parametric uncertainties, and the nonlinearities involved in the switching dynamics with stability and performance guarantees. The second group of articles, 5‐14 constituting the major category of this issue, applies adaptive control, optimization methods, and hybrid system theories to various practical fields, ranging from UAVs, AGVs, robotics, and water systems to batch processes. The last group 15,16 considers distributed cyber physical systems, which deals with parametric uncertainties, communication constraints, and signal estimations by resorting to adaptive control and fast Kalman filtering.…”