Leveraging PID Gain Selection Towards Adaptive Backstepping Control for a Class of Second-Order Systems

Kourani, Ahmad; Daher, Naseem

doi:10.23919/acc50511.2021.9483159

Cited by 7 publications

(2 citation statements)

References 20 publications

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“…The proposed control law including the radial and tangential thrust components for the outer-loop UAV's relative position controller, and the UAV's pitching torque, is defined as [34]:…”

Section: Uav-buoy Relative Position Control Lawmentioning

confidence: 99%

Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

Kourani¹,

Daher²

2021

Preprint

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Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic system can have a variety of novel applications for UAVs where their high speed and maneuverability, as well as their ease of deployment and wide field of vision, give them a superior advantage. In addition, the major limitation of limited flight time of quadrotor UAVs is typically addressed through an umbilical power cable, which naturally integrates with the proposed system. A detailed high-fidelity dynamic model is presented for the buoy, UAV, and water environment. In addition, a stable control system design is proposed to manipulate the surge velocity of the buoy within certain constraints that keep the buoy in contact with the water surface. Polar coordinates are used in the controller design process since they outperform traditional Cartesian-based velocity controllers when it comes to ensuring correlated effects on the tracking performance, where each control channel independently affects one control parameter. The system model and controller design are validated in numerical simulation under different wave scenarios.

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“…The proposed control law including the radial and tangential thrust components for the outer-loop UAV's relative position controller, and the UAV's pitching torque, is defined as [34]:…”

Section: Uav-buoy Relative Position Control Lawmentioning

confidence: 99%

Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

Kourani¹,

Daher²

2021

Preprint

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“…Kourani et al. [29] establish an appropriate similarity between an adaptive backstepping control law and a standard PID controller for a class of second‐order systems. Dhaybi et al.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Dalwadi

Deb

Muyeen

2022

IET Intelligent Trans Sys

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Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, and flies like fixed-wing UAVs. A backstepping controller and an adaptive backstepping controller are designed for trajectory tracking and payload delivery in a medical emergency or medical substance delivery like vaccine delivery in the presence of wind gust. Simulation results show that the backstepping controller effectively tracks the trajectory during the entire flight envelope, including take-off, hovering, the transition phase, level flight mode, and landing. A comparison between Backstepping, Integral Terminal Sliding Mode (ITSMC) and Adaptive Backstepping controllers for payload delivery show that the adaptive backstepping controller effectively tracks the altitude and attitude. ITSMC is capable of tracking the desired trajectory for a change in the mass but has sluggish response. The backstepping controller generates a steady-state error in altitude during the mass change in biplane quadrotor.

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Three-dimensional modeling of a tethered UAV–buoy system with relative-positioning and directional surge velocity control

Kourani

Daher

2022

Nonlinear Dyn

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Leveraging PID Gain Selection Towards Adaptive Backstepping Control for a Class of Second-Order Systems

Cited by 7 publications

References 20 publications

Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

Marine Locomotion: A Tethered UAV$-$Buoy System with Surge Velocity Control

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Three-dimensional modeling of a tethered UAV–buoy system with relative-positioning and directional surge velocity control

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