Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight

Rinaldi, Franca; Chiesa, Sergio; Quagliotti, Fulvia

doi:10.1007/s10846-012-9708-3

Cited by 153 publications

(62 citation statements)

References 2 publications

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“…In literature [2][3][4][5][6], the controller is designed with different degree of simplification to quadrotor model by feedback linearization and small perturbation linearization. However, the quadrotor is a typical underactuated system, a cascade nonholonomic system with complex constraint equations, which has a strong nonlinearity and thus needs a higher requirement for the control system.…”

Section: Advances In Computer Science Research Volume 79mentioning

confidence: 99%

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

Wang¹,

Yang²,

Hairui³

2018

Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)

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Section: Advances In Computer Science Research Volume 79mentioning

confidence: 99%

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

Wang¹,

Yang²,

Hairui³

2018

Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)

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“…By operating multiple quadrotors, tasks that are impossible with a single quadrotor can be performed, and single quadrotor tasks can be performed faster and more efficiently. Therefore, there has been considerable attention on studies focusing on quadrotor formation control [1][2][3][4][5][6][7][8][9][10][11][12][13][14]. There are several quadrotor formation control methodologies including behavior based [1], leader-follower [2][3][4][5][6][7][8], virtual structures [9,10] and graph theory [11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

“…Position control based on linear control methods such as proportional-integral-differential (PID) and the linear quadratic regulator (LQR) has been proposed [2,3,5,16,17], but it has limited performance because it was only focused on the local behavior of the system. Considering the nonlinear dynamics of a quadrotor, various nonlinear control methods have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

2017

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Abstract:In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton-Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.

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“…Most of the time, to achieve fully autonomous flight in these UAV applications, classical controllers, e.g. proportional-integralderivative (PID) [7], linear quadratic regulators (LQRs) [8] or sliding mode control (SMC) [9], have been utilized. There is no doubt that these well-known control algorithms are very successful when a precise mathematical model of the system is obtained and no significant internal or external uncertainties exist.…”

Section: Introductionmentioning

confidence: 99%

A comparative study on the control of quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers

Sarabakha

Kayacan

et al. 2016

2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

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Abstract-Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSFLC especially under highly noisy conditions.

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Linear Quadratic Control for Quadrotors UAVs Dynamics and Formation Flight

Cited by 153 publications

References 2 publications

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

Quadrotor Formation Inversion Control Method Based on Unit Quaternion

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

A comparative study on the control of quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers

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