Robust output-feedback cascaded tracking controller for spatial motion of anisotropically-actuated vehicles

Michałek, Maciej Marcin; Łakomy, Krzysztof; Adamski, Wojciech

doi:10.1016/j.ast.2019.07.012

Cited by 17 publications

(18 citation statements)

References 27 publications

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“…This kind of information can be easily obtained in case of preprogrammed references. But in case of remote control of quadrotors, these signals are often not available in advance, hence conventional ADRC cannot be applied directly (Michałek, 2016;Madonski et al, 2019;Michałek et al, 2019;.…”

Section: Introductionmentioning

confidence: 99%

“…In light of the currently available error-based ADRC designs (Michałek, 2016;Madonski et al, 2019;Michałek et al, 2019;, in this work, a specific, customized ADRC error-based algorithm that uses generalized extended state observer (GESO) structure is applied to solve the specific problem of controlling quadrotor subjected to complex disturbances. The performances of different error-based ADRC schemes in both frequency and time domains are comparatively analyzed.…”

Section: Introductionmentioning

confidence: 99%

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Robust error-based active disturbance rejection control of a quadrotor

Lechekhab

Manojlović

Stanković

et al. 2020

AEAT

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Purpose The control of a quadrotor unmanned aerial vehicle (UAV) is a challenging problem because of its highly nonlinear dynamics, under-actuated nature and strong cross-couplings. To solve this problem, this paper aims to propose a robust control strategy, based on a concept of active disturbance rejection control (ADRC). Design/methodology/approach The altitude/attitude dynamics of a quadrotor is reformulated into the ADRC framework. Three distinct variations of the error-based ADRC algorithms, with different structures of generalized extended state observers (GESO), are derived for the altitude/attitude trajectory-following task. The convergence of the observation part is proved based on the singular perturbation theory. Through a frequency analysis and a quantitative comparison in a simulated environment, each design is shown to have certain advantages and disadvantages in terms of tracking accuracy and robustness. The digital prototypes of the proposed controllers for quadrotor altitude and attitude control channels are designed and validated through real-time hardware-in-the-loop (HIL) co-simulation, with field-programmable gate array (FPGA) hardware. Findings The effects of unavailable reference time-derivatives can be estimated by the ESO and rejected through the outer control loop. The higher order ESOs demonstrate better performances, but with reductions of stability margins. Time-domain simulation analysis reveals the benefits of the proposed control structure related to classical control approach. Real-time FPGA-based HIL co-simulations validated the performances of the considered digital controllers in typical quadrotor flight scenarios. Practical implications The conducted study forms a set of practical guidelines for end-users for selecting specific ADRC design for quadrotor control depending on the given control objective and work conditions. Furthermore, the paper presents detailed procedure for the design, simulation and validation of the embedded FPGA-based quadrotor control unit. Originality/value In light of the currently available literature on error-based ADRC, a comprehensive approach is applied here, which includes the design of error-based ADRC with different GESOs, its frequency-domain and time-domain analyses using different simulation of UAV flight scenarios, as well as its FPGA-based implementation and testing on the real hardware.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust error-based active disturbance rejection control of a quadrotor

Lechekhab

Manojlović

Stanković

et al. 2020

AEAT

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“…for some majorization constant ν ε ∈ (0, 1). A time response of the dynamics (11), according to the relation (13), is bounded by…”

Section: Preliminariesmentioning

confidence: 99%

“…Research interest in the Active Disturbance Rejection (ADR) control method, initially introduced in [4], has been gradually growing in recent years resulting in its frequent use in the domains of industrial- [10,18,14] and mobile robotics [13]. Instead of relying on the precise model of the control object, the ADR method depends on a feedforward cancellation of the so-called total disturbance, usually estimated by the Extended State Observer (ESO) with a single additional state, see [3].…”

Section: Introductionmentioning

confidence: 99%

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Łakomy,

Patelski,

Pazderski

2020

Preprint

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Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.

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“…Alternative approaches to the omnidirectional movement are, for example, the unicycle-like and the torpedo-like motion strategies, both relying on the motion realization along with some privileged directions, aligned with the thrust generated by the main actuators. In the unicycle-like motion, the vehicle movement is decomposed into the planar, and fully decoupled vertical motions [45,32,46], while in the torpedolike approach the control object moves directly in the 3d space [14,28,11,33]. A specific actuation strategy utilized for the vehicles that are usually moving in a torpedo-like manner allows a precise realization of the given control task with fewer control signals, comparing to the ones using a unicycle-like strategy.…”

Section: Introductionmentioning

confidence: 99%

Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths

Łakomy,

Michałek

2020

Preprint

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This article concerns the development of the Vector Field Orientation -Active Disturbance Rejection (VFO-ADR) cascaded pathfollowing controller for the underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded control structure decouples system kinematics from system dynamics, resembling the approach utilized in the nonholonomic systems. Thanks to the use of an ADR control approach in the dynamic-level controller, the proposed control structure is robust to even significant model uncertainties and external disturbances. Application of an error-based form of the Extended State Observer (ESO), implemented within the ADR inner-loop controller, implies the output-feedback characteristic of the control structure, i.e., only the position and attitude of the vehicle body is expected to be measured. The kinematic-level controller is designed according to the VFO method utilizing the non-parametrized path representation to calculate the commanded velocities. The description of the proposed control structure is followed by the theoretical analysis utilizing the Input-to-State Stability (ISS) theorem and the simulation verification of the proposed solution.

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Robust output-feedback cascaded tracking controller for spatial motion of anisotropically-actuated vehicles

Cited by 17 publications

References 27 publications

Robust error-based active disturbance rejection control of a quadrotor

Robust error-based active disturbance rejection control of a quadrotor

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Robust output-feedback VFO-ADR control of underactuated spatial vehicles in the task of following non-parametrized paths

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