Robust Path Following Controllers for Quadrotor and Ground Robot

Mutawe, Samer; Hayajneh, Mohammad; BaniHani, Suleiman

doi:10.1109/icecce52056.2021.9514140

Cited by 3 publications

(1 citation statement)

References 34 publications

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“…Most backstepping control strategies are utilized as an upper hand controller (Fethalla et al, 2017;Rego et al, 2016;Vallejo-Alarcón et al, 2015). Backstepping controller is an effective control strategy for extremely nonlinear frameworks (Basri et al, 2015;Lee et al, 2017;Liu et al, 2015;Mutawe et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Mahfouz,

Hafez,

Ashry

et al. 2023

JART

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This paper offers a novel hybrid control approach for solving the formation problem for a group of cooperative quadrotors unmanned aerial vehicles (UAVs). Two-loop controller layout techniques are presented: one is a backstepping based PID controller as a higher-controller in external-loop to manage the proportional position orders and create body-axis rate orders for the internal loop. Second, it is an Adaptive Neuro Fuzzy Inference System (ANFIS) Controller acts as a lower-controller in the internal-loop to generate desired angular rotations for every quadrotor, separately. The introduced hybrid controller is applied to overcome the formation aviation downside that keeps track of the leader-follower approach. The contribution in this paper lays in developing a solution for the formation problem for a group of cooperative UAVs through a double layer hybrid Backstepping-ANFIS controller. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink in order to perform various simulations to validate the hybrid proposed controller. Simulation results for a team of cooperative UAVs show the success of the proposed approach in solving the formation configuration problem for the UAV team members in free and loaded obstacles environment.

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Section: Introductionmentioning

confidence: 99%

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Mahfouz,

Hafez,

Ashry

et al. 2023

JART

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UAV coverage path optimization for collecting fine-grained distribution of air samples

Hayajneh,

Momani,

Al-ghazo

2023

2023 International Conference on Control, Automation and Diagnosis (ICCAD)

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Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

Hayajneh

Al-Mahasneh

2022

Drones

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This work focuses on the challenges associated with autonomous robot guidance, navigation, and control in multi-robot systems. This study provides an affordable solution by utilizing a group of small unmanned ground vehicles and quadrotors that collaborate on monitoring and inspection missions. The proposed system utilizes a potential fields path planning algorithm to allow a robot to track a moving target while avoiding obstacles in a dynamic environment. To achieve the required performance and provide robust tracking against wind disturbances, a backstepping controller is used to solve the essential stability problem and ensure that each robot follows the specified path asymptotically. Furthermore, the performance is also compared with a proportional-integral-derivative (PID) controller to ensure the superiority of the control system. The system combines a low-cost inertial measurement unit (IMU), a GNSS receiver, and a barometer for UAVs to generate a navigation solution (position, velocity, and attitude estimations), which is then used in the guidance and control algorithms. A similar solution is used for UGVs by integrating the IMU, a GNSS receiver, and encoders. Non-linear complementary filters integrate the measurements in the navigation system to produce high bandwidth estimates of the state of each robotic platform. Experimental results of several scenarios are discussed to prove the effectiveness of the approach.

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Robust Path Following Controllers for Quadrotor and Ground Robot

Cited by 3 publications

References 34 publications

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

UAV coverage path optimization for collecting fine-grained distribution of air samples

Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

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