Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter

Kendoul, Farid; Lara, David; Fantoni-Coichot, Isabelle; Lozano, Rogelio

doi:10.2514/1.27882

Cited by 117 publications

(84 citation statements)

References 25 publications

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“…Disregard of actuator limits probably brings about system's collapse; in addition, undesired transient response and even damaging the actuators can be the other effects (Izadbakhsh et al (2011)). In Kendoul et al (2007), global asymptotic stability of quadrotor and boundedness of control inputs are guaranteed via nested-saturation based nonlinear controller. Constrained finite time optimal control of quadcopter in the presence of mechanical constraints, such as maximum thrust in the rotors, is proposed in Alexis et al (2010).…”

Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO) is developed for multi-input multi-output (MIMO) nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC) technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

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Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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“…Based on the Newton-Euler equations, the rigid-body translational dynamics and the rotational dynamics driven by external force F ∈ R 3 and torque M ∈ R 3 can be derived as follows (Kendoul, Lara, Fantoni-Coichot, & Lozano, 2007) …”

Section: Quadrotor Modellingmentioning

confidence: 99%

“…where J(η) = JΨ(η) is defined as a pseudo-inertia matrix and C(η, η) =J(η) + Ψ(η) × Jη is the Coriolis term (Kendoul et al, 2007). Considering the two ingredients of the external torque M in Eq.…”

Section: Quadrotor Modellingmentioning

confidence: 99%

Constrained anti-disturbance control for a quadrotor based on differential flatness

Lü

Liu

Guo

et al. 2016

International Journal of Systems Science

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The classical control design based on linearised model is widely used in practice even to those inherently nonlinear systems. Although linear design techniques are relatively mature and enjoy the simple structure in implementations, they can be prone to misbehaviour and failure when the system state is far away from the operating point. To avoid the drawbacks and exploit the advantages of linear design methods while tackling the system nonlinearity, a hybrid control structure is developed in this paper. First, the model predictive control is used to impose states and inputs constraints on the linearised model, which makes the linearisation satisfy the small-perturbation requirement and reduces the bound of linearisation error. On the other hand, a combination of disturbance observer based control and H∞ control, called composite hierarchical anti-disturbance control, is constructed for the linear model to provide robustness against multiple disturbances. The constrained reference states and inputs generated by the outer-loop model predictive controller are asymptotically tracked by the inner-loop composite anti-disturbance controller. To demonstrate the performance of the proposed framework, a case study on quadrotor is conducted.

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“…Representative designs are: GPS positioning systems [18,19]; GPS/INS systems [20,21,22]; ultrasonic rangers [23]; GPS module when outdoors and infrared rangers when indoors [24]; carrier phase differential GPS [25]; laser rangefinder [26]; vision system [27,28,29]; indoor motion capture system [30,31]; laser rangefinder and vision system [32]. However, these strategies are dependent on the accurate model, and all the states are required to be known.…”

Section: Introductionmentioning

confidence: 99%

Navigation and Control Based on Integral-Uncertainty Observer for Unmanned Jet Aircraft

Wang

Cai

2017

IEEE Trans. Aerosp. Electron. Syst.

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A note on versions:The version presented here may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the repository url above for details on accessing the published version and note that access may require a subscription. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Abstract: A nonlinear integral-uncertainty observer is presented, which can estimate the integral of measurement output signal and the uncertainty in system, synchronously. In order to be satisfied with the existing hardware computational environments and to select the parameters more easily, a simplified linear version of the nonlinear integral-uncertainty observer is also developed. The effectiveness of the proposed observers are verified through the numerical simulations and experiments: i) through the integral-uncertainty observers, the attitude angle and the uncertainties in attitude dynamics are estimated synchronously from the measurements of angular velocity, and the estimate results by the two observers are compared; ii) a control law is designed based on the observers to drive the jet aircraft to track a reference trajectory.

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Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter

Cited by 117 publications

References 25 publications

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Constrained anti-disturbance control for a quadrotor based on differential flatness

Navigation and Control Based on Integral-Uncertainty Observer for Unmanned Jet Aircraft

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