Robust global observer position-yaw control based on ellipsoid method for quadrotors

Oliva-Palomo, Fatima; Sánchez‐Orta, Anand; Alazki, Hussain; Castillo, Pedro; Muñoz‐Vázquez, Aldo Jonathan

doi:10.1016/j.ymssp.2021.107721

Cited by 5 publications

(4 citation statements)

References 26 publications

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“…Also, the authors proposed continuous position control for a quadcopter using observer feedback. The ellipsoid approach constrained the inaccuracy to a small enough region around the origin that the system was able to follow the target location even during very aggressive movements [38]. In [39], the authors proposed a quaternion FBL controller model for exponential attitude stabilization of quadcopter which is based on the compensation of the gyroscopic and Coriolis torques.…”

Section: Feedback Linearization Techniquesmentioning

confidence: 99%

Comparison of various Control Techniques Applied to a Quadcopter

Esmail

Merzban

Khalaf

et al. 2023

Journal of Advanced Engineering Trends

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A quadcopter is considered one of the most well-known examples of unmanned aerial vehicles (UAVS), because it has more advantages than standard helicopter in terms of size, efficiency, and safety. As a result, researchers are quite interested in it. In this paper, practical applications and various control techniques of the quadcopter are presented. This article summarizes an overview of quadcopter popular control strategies such as intelligent PID techniques, feedback linearization techniques, linear quadratic LQR techniques, sliding mode control techniques, and backstepping techniques, followed by analyses, pros, and cons of each control technique. The adaptive/observer-based augmentation of each nonlinear control technique is also discussed. Finally, our research prospects that the most important features of research and development quadcopter's future research will be directed by this focused literature. For each technique, the target and type of test of each research article are stated, making it easier for the researcher to select the research papers that best meet his objectives.

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Section: Feedback Linearization Techniquesmentioning

confidence: 99%

Comparison of various Control Techniques Applied to a Quadcopter

Esmail

Merzban

Khalaf

et al. 2023

Journal of Advanced Engineering Trends

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“…In order to stabilize an uncertain quadrotor and to make it to track a predefined flight trajectory, two PD control techniques, and adaptive fuzzy TSMC are proposed in [ 26 ]. In [ 27 ], a new observer-based control approach is proposed for controlling a quadrotor under disturbances and noisy measurements. The authors of [ 28 ] investigated to present new finite-time control and fixed time prescribed performance for a quadrotor system.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode

et al. 2023

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This paper presents a finite-time approach for tracking control of a quadrotor system subjected to external disturbances and model uncertainties. The proposed approach offers a preassigned performance guarantee. Firstly, integral terminal sliding manifolds and nonsingular terminal sliding manifolds are considered to produce the new hyperplane sliding variables for both position and attitude of a quadrotor. The designed hyperplane sliding variables guaranteed a finite-time convergence. The objective is to develop a finite-time control scheme for a disturbed quadrotor to follow a predefined trajectory based on a nonlinear sliding mode controller. The main contribution of this paper is to design a hyperplane-based nonlinear sliding mode control strategy for a quadrotor subjected to disturbances. A concept of robust controllers for a quadrotor is presented based on Lyapunov theory, which proves finite-time stability of the proposed control technique. Numerical simulations with two different scenarios verify the accuracy of the proposed hyperplane-based sliding mode control approach. The simulations study also included a comparison with another nonlinear controller. Results demonstrated overperformance of the proposed control strategy.

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“…Suzuki et al presented the simulation and experimental studies on Lepton-Ex unmanned helicopter using quaternion feedback in control [16]. Quadrotor and multicopters were also employed quaternions [18][19][20][21][22][23]. A study compared three controllers, linear quadratic regulator (LQR), proportional-derivative (PD), and model predictive controller (MPC) for trajectory tracking that revealed the PD and the LQR gained better results in an ideal condition, and the MPC was more accurate in presence of disturbance [18].…”

Section: Introductionmentioning

confidence: 99%

“…Quaternion variables in the attitude controller provided an advantage, employment of low-cost sensors due to the high-speed capability of the singularity-free controller [20]. Palomo et al presented an observer-based method based on positionyaw for the ellipsoid method [21]. Linear matrix inequalities were used to optimize the feedback of the observer, and experimental results showed successful tracking in high speed maneuver.…”

Section: Introductionmentioning

confidence: 99%

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

2022

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The quaternion is a powerful and common tool to avoid singularity in rotational dynamics in three-dimensional (3D) space. Here it has been particularly used as an alternative to Euler angles and rotation matrix. The application of the quaternion is exercised in quadrotor modeling and control. It changes the dynamics and represents a singularity-free attitude model. Here for the first time (for the best knowledge of authors), the state-dependent differential Riccati equation (SDDRE) control has been implemented on the quaternion-based model of a quadcopter. The proposed control structure is capable of aerobatic flight, and the Pugachev’s Cobra maneuver is chosen to assess the capability of the quaternion-based SDDRE approach. The introduced control simulator is validated by comparison with conventional dynamics based on Euler angles, controlled using a proportional-derivative (PD) controller on a normal regulation flight. The simulator successfully performed the Cobra maneuver and also validated the proposed structure. The more precision in regulation along with lower energy consumption demonstrated the superiority of the introduced approach.

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Robust global observer position-yaw control based on ellipsoid method for quadrotors

Cited by 5 publications

References 26 publications

Comparison of various Control Techniques Applied to a Quadcopter

Comparison of various Control Techniques Applied to a Quadcopter

Robust tracking control for a quadrotor subjected to disturbances using new hyperplane-based fast Terminal Sliding Mode

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

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