Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

Dou, Jingxin; Kong, Xiangxi; Chen, Xiaozhe; Wen, Bangchun

doi:10.1177/0954410016667401

Cited by 12 publications

(13 citation statements)

References 34 publications

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“…In general, a rotation matrix is used for the translation. There are two common methods to describe RUAV altitude, Euler angles, and quaternion [24][25]33] . It is assumed that pitch and roll are both less than 90° such that Euler angles are totally suitable in this paper [16][17] .…”

Section: A Coordinate Systemmentioning

confidence: 99%

“…It is assumed that the off-diagonal terms of the inertia matrix J can be taken as a small number, when there are two small numbers multiply it is possible to be neglected. Note that this assumption is more carefully consider the asymmetry of a mass of RUAV than common models [26][27][28] .…”

Section: B Mathematics Modelmentioning

confidence: 99%

“…The proof is as follow. λ 1 an arbitrary represents the eigenvalue of -W. From (25) we can observe that (-W) T =-W, then -W is a Hermite matrix. According to condition (a), (b) and Lemma 3, λ 1 >0.…”

Section: Stabilization Analyzementioning

confidence: 99%

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State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

Liu

Shi

et al. 2020

IEEE Access

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Sliding Mode Control and Adaptive Control are widely studied in the area of Rotor UAV in recent years. Although the performance of Rotor UAV with these controllers show high command tracking ability and good robustness, they are limited by model accuracy so that they cannot take place PID. In this paper, a novel method named State damping control is proposed to be a candidate for the traditional PID method. Our proposed State Damping Control is inspired by the format of air resistance. The method is based on the general idea that resistance will make a system easy to stabilize. State damping control is independent of model accuracy and just uses three parameters to control attitude, so it is easy to realize. Krasovskii Theorem is used to give the evidence that State damping control is asymptotic stable in our considered state space. Finally, simulations are implemented in C++ on VS2017, it demonstrates that State damping control is easy to be tuned and robust to wind attack and inertial parameters. Compared with PID, our proposed method is robust to wind disturbances obviously.

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Section: A Coordinate Systemmentioning

confidence: 99%

Section: B Mathematics Modelmentioning

confidence: 99%

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State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

Liu

Shi

et al. 2020

IEEE Access

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“…11. For the sake of comparison, a same mission was executed on a dynamic surface control method [10]. The experiments were shown on the Fig.…”

Section: Comparison Experiments With Wind Disturbancementioning

confidence: 99%

“…Hierarchical Control Strategy (NHCS) [7], Back-Stepping (BS) [8] and Dynamic Surface Control (DSC) [9], [10]. The NHCS and BS were efficient solutions for control problems with high-order nonlinear dynamic.…”

mentioning

confidence: 99%

Supplementary Reinforcement Learning Controller Designed for Quadrotor UAVs

2019

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The control problem for quadrotor UAVs is difficult and challenging due to the complex nonlinear dynamics and ever-changing disturbances. In this paper, a supplementary controller based on reinforcement learning (RL) is proposed to improve the control performance of quadrotor UAVs. The proposed RL method is constructed by an actor-critic structure and some improved technologies, e.g., Q-learning, temporal difference, and experience replay. With the proposed method, the speed and stability of training can be improved greatly. On one hand, the supplementary controller can work together with the traditional controller online, which can guarantee the stability of the system. On the other hand, the model uncertainties and external disturbances could be restrained through online RL training. The Lyapunov theory is used to prove the convergence of the RL controller's weights theoretically. Finally, three simulations are provided to illustrate the effectiveness of the proposed controller. INDEX TERMS Quadrotor, UAVs, reinforcement learning, ADP, control system. I. INTRODUCTION Recently, quadrotor UAVs have acquired much attention in many areas [1]-[4], especially in the domain of logistics and agriculture. One of the their advantages is low-cost and low fault rates, which is based on their simple mechanical structure. Another advantage that they enjoy abilities of Vertical TakeOff and Landing (VTOL), stable hovering and high maneuverability extend application range. However, high performance control for quadrotor UAVs is a challenge for the reason that the dynamic model of them is Multi-Input Multi-Output (MIMO), strong coupling, nonlinear and underactuated; they suffer from model-uncertainties and unknown external disturbances. Many linear or nonlinear methods were designed for quadrotor UAVs with coupling and nonlinear dynamic. The linear methods were convenient to be applied, e.g. PID and Linear Quadratic Regulator (LQR).But the liner methods simplified many nonlinear specialties and could only guaranteed the convergence near the equilibrium [5], [6]. In order to get larger convergence range and higher performance, several nonlinear methods were developed, like Nonlinear The associate editor coordinating the review of this manuscript and approving it for publication was Okyay Kaynak.

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Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

Yang

2021

Adaptive Control & Signal

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This work proposes a new adaptive robust output feedback control method for attitude reference tracking of a quadrotor unmanned aerial vehicle without using the angular velocity measurements. By using the K-filters well known in the adaptive control community, the necessity of velocity measurements or estimating is avoided. The attitude system model is transformed into a second-order model where the angular velocity measurements are not involved. However, the model includes mismatched uncertainties which should be estimated and compensated by the disturbance observers (DOBs). The controller is designed in a backstepping manner, and the dynamic surface technique is adopted to avoid the explosion of the controller complexity. For each Euler angle axis, the prescribed performance control technique is adopted to ensure a prescribed performance, the lumped disturbance is compensated by a DOB, and furthermore an adaptive law is introduced to adaptively update the corresponding uncertain inertia parameter which affects the control performance significantly. The control performance of the overall control system is analyzed rigorously from the viewpoint of input-to-state practical stability. In addition, it is shown how the adaptive laws contribute to improving the control performance. And simulation examples are provided to demonstrate the performance of the proposed method.

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Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

Cited by 12 publications

References 34 publications

State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

State Damping Control: A Novel Simple Method of Rotor UAV With High Performance

Supplementary Reinforcement Learning Controller Designed for Quadrotor UAVs

Adaptive robust output feedback control for attitude tracking of quadrotor unmanned aerial vehicles

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