Robust Trajectory‐Tracking Control of a PVTOL under Crosswind

Aguilar-Ibáñez, Carlos; Sira‐Ramírez, Hebertt; Suárez-Castañón, Miguel S.; Garrido, R.

doi:10.1002/asjc.1817

Cited by 26 publications

(30 citation statements)

References 57 publications

(53 reference statements)

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“…In this section, we evaluate a regulator containing the sigmoid mapping of (12) denoted as RSM, a proportional derivative regulator of (9), [24], [25], and a sliding mode regulator of (10), [2], [3] denoted as SM, for the stabilization of the scara and two link robots. Our goal in the regulators is that the paths of the states in robots must follow the paths of desired constant references as fast as possible.…”

Section: Resultsmentioning

confidence: 99%

“…PD of [24], [25] is expressed by equation 9with parameters K p = 500 0 0 500 , K d = 30 0 0 30 . We evaluate the actuators nonlinearities in the Figure 8, we evaluate the positions in the Figure 9, we evaluate the speeds in the Figure 10, we show the MSE of (26), the RMSE of (27) in the Table 3, the MAE of (28), and the MAPE of (29) in the Table 4 for the two link robot.…”

Section: B Two Link Robotmentioning

confidence: 99%

“…The associate editor coordinating the review of this manuscript and approving it for publication was Qiu ye Sun . of robotic exoskeletons and quadrotors. Authors analyze proportional derivative sliding model regulators of overhead cranes and inverted pendulums in [24]- [26], and [27]. In [28]- [30], and [31], authors addressed robust sliding model regulators of parallel manipulators and quadrotors.…”

Section: Introductionmentioning

confidence: 99%

“…The aforementioned research is divided in two big groups where [16]- [19], [21], [22], [24]- [26], [29], [32]- [34] are focused on the stabilization of nonlinear models subject to nonlinear uncertainties, and [9]- [15], [20], [23], [27], [28], [30], [31] are focused on the stabilization of nonlinear models subject to external perturbations. It is important to note that in most of the cases the nonlinear uncertainties or external perturbations are unknown.…”

Section: Introductionmentioning

confidence: 99%

“…l 1 = l 2 = 0.3 m, l c1 = l 1 /2, l c2 = l 2 /2, m 2 = m 3 = m 4 = 0.3 kg, J 13 = J 1 + J 2 + J 3 , J 1 = 0.0208 kgm 2 , J 2 = J 3 = 0.0127 kgm 2 , and g = 9.81 m/s 2 . n r = n l = 0.5, w r = 0.5, and w l = −0.5 as the actuators nonlinearities terms.PD of[24],[25] is expressed by equation(9)with param-…”

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confidence: 99%

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Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

et al. 2020

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Actuators nonlinearities are unknown external perturbations in robots, which are unwanted because they can severely limit their performance. This research is focused on the stabilization of robots subject to actuators nonlinearities with a regulator containing the sigmoid mapping. Our regulator has the following three main characteristics: a) a sigmoid mapping is used to ensure boundedness of the regulator law terms, b) the chattering is reduced by the usage of the saturation mapping instead of the signum mapping, and c) the stabilization is ensured by the Lyapunov analysis. Finally, we evaluate our regulator for the stabilization of two robots.

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Section: Resultsmentioning

confidence: 99%

Section: B Two Link Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

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Robust finite‐horizon optimal control of autonomous helicopters in aggressive maneuvering

Wang

Shi

Zhong

2019

Asian Journal of Control

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There has been an increasing need for autonomous helicopters to have the ability to perform aggressive maneuvers. To achieve this, robust and high performance controllers are required to accurately drive the helicopters. In this paper, the robust compensator (RC) technique is applied to the classic finite‐horizon LQR approach to deal with the uncertainties, including nonlinearities, external disturbances, and other interference. The robust properties of the proposed method are analyzed, and it is proved that the RC can eliminate the effects of the uncertainties as expected. The effectiveness of the proposed method is shown through simulations and real experiments of a prototype helicopter.

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Output feedback control for an underactuated benchmark system with bounded torques

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Asian Journal of Control

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In this paper, we consider the stabilization of the translational oscillator with a rotational actuator (TORA) system. Existing control methods for the TORA system are developed on the basis of the assumptions that full state feedback is available, and the actuator can supply control torques with any bounded amplitudes or system parameters are exactly known. In order to relax these assumptions, an amplitude‐saturated output feedback controller is proposed for the TORA system. Compared with existing control methods, the proposed method exhibits four remarkable features: free of plant parameters, bounded amplitude, output feedback, and unwinding behavior prevention. Specifically, the passivity of the TORA system is analyzed first. Then, a constructive energy‐like function is introduced and a corresponding amplitude‐saturated output feedback control law for the TORA system is proposed on the basis of the constructed energy‐like function. Lyapunov‐based analysis and LaSalle's invariance principle are used to prove the boundedness and convergence of the closed‐loop signals. Finally, numerical simulations with comparisons to previous reported methods are implemented to demonstrate the superior performance of the proposed method.

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Robust Trajectory‐Tracking Control of a PVTOL under Crosswind

Cited by 26 publications

References 57 publications

Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

Stabilization of Robots With a Regulator Containing the Sigmoid Mapping

Robust finite‐horizon optimal control of autonomous helicopters in aggressive maneuvering

Output feedback control for an underactuated benchmark system with bounded torques

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