Simple Tracking Controllers for Autonomous VTOL Aircraft With Bounded Inputs

Ailon, Amit

doi:10.1109/tac.2010.2040493

Cited by 90 publications

(74 citation statements)

References 12 publications

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“…The main theoretical results of this paper are based on the following proposition [18] . Proposition 1.…”

Section: Theoretical Preliminariesmentioning

confidence: 99%

“…To overcome the troubles resulted from non-smooth saturation functions, it is necessary to apply some smooth saturation functions. Recently, a smooth hyperbolic saturated control has been designed for a 3-DOF VTOL aircraft [18] ; stability results of the closed-loop system were simple to prove, and the control algorithm was easy to implement.Enlightened by the simple smooth saturated control for 3-DOF aircraft [18] , we propose a nonlinear control based on smooth saturation function for a fully 6-DOF modelscaled helicopter under constraints of main rotor thrust and fuselage attitude. The constraints are addressed by using bounded and continuously differentiable hyperbolic tangent functions.…”

mentioning

confidence: 99%

“…The full nonlinear model of the helicopter plant is divided into three subsystems, and the proposed control is designed by combining the sub-controls developed for the corresponding subsystems. The main contributions of this paper include: 1) The result of a 3-DOF (lateral, altitude and roll) VTOL aircraft [18] is extended to a 6-DOF helicopter; 2) Exponential stability and local input-to-state stability (LISS) [24] of the smooth saturated control system are discussed in detail; 3) Neglected coupling terms are considered theoretically in the stability analysis of the closed-loop system; 4) Time derivatives of virtual controls are presented in explicit forms without using differentiators to reduce the amount of calculation significantly. This paper is organized as following: some useful preliminaries are reviewed in Section 1; the problem of trajectory tracking for helicopter subject to constraint on main rotor thrust and fuselage attitude is formulated in Section 2; detailed control design procedure is proposed in Section 3; the stability concerning the closed-loop system with neglected terms is analyzed in Section 4; simulation results are presented in Section 5 to illustrate the performances of the designed controller; this paper is concluded in Section 6.…”

mentioning

confidence: 99%

mentioning

confidence: 99%

“…Enlightened by the simple smooth saturated control for 3-DOF aircraft [18] , we propose a nonlinear control based on smooth saturation function for a fully 6-DOF modelscaled helicopter under constraints of main rotor thrust and fuselage attitude. The constraints are addressed by using bounded and continuously differentiable hyperbolic tangent functions.…”

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confidence: 99%

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Nonlinear adaptive neural network control for a model-scaled unmanned helicopter

Zhu

2014

Nonlinear Dyn

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A nonlinear control is proposed for trajectory track-ing of a 6-DOF model-scaled helicopter with constraints on main rotor thrust and fuselage attitude. In the procedure of con-trol design, the mathematical model of helicopter is simplified into three subsystems: altitude subsystem, longitudinal-lateral subsystem and attitude subsystem. The proposed control is developed by combining the sub-controls for the correspond-ing subsystems. The sub-controls for altitude subsystem and longitudinal-lateral subsystem are designed with hyperbolic tangent functions to satisfy the constraints; the sub-control for attitude subsystem is based on backstepping technique such that fuselage attitude tracks the virtual control for longitudinal-lateral subsystem. It is proved theoretically that tracking errors are ultimately bounded, and control constraints are satisfied. Performances of the proposed controller are demonstrated by simulation results.Key words Nonlinear control, trajectory tracking, helicopter control, saturated control Trajectory tracking control design for a 6-DOF autonomous model-scaled helicopter has becomes an interesting and challenging task in recent years, because of the nonlinearities and couplings in its dynamic model [1−2] . Some representative researches include linear control [3] , approximate feedback linearization [2] , backstepping [4−5] , robust H∞ control [6−7] , composite nonlinear feedback [8] , and model predictive control [9] . Traditionally, nonlinear trajectory tracking controls for helicopters are mainly based on some assumptions: 1) constant rotational rate of rotors, 2) simplified expressions for rotor thrusts in case of low fuselage velocity and acceleration, and 3) negligence of small coupling terms (or small body forces). To support the assumptions, however, some other significant issues require further consideration. The desired main rotor thrust should be subjected to saturation; otherwise, excessively large main rotor thrust would result in large acceleration of the fuselage, and the simplified expressions for rotor thrusts are unreasonable. Besides, large rotor thrust requires large collective pitch, increasing drag forces exerted on the rotor blades and deteriorating the assumption of constant rotational rate. Moreover, attitude of the fuselage should be bounded securely for the reason that aggressive attitude often leads to uncontrollability in case of constraint on rotor thrust.Many early works on saturated control [10−13] presented the fundamental principles and applications. Saturated control for nonlinear systems was then developed and summarized [14−17] . Saturated control strategies were applied to some specific projects, such as 3-DOF VTOL aircraft [18−19] , linear motor system [20] , and inverted pendulum [21] . However, researches on saturated control for trajectory tracking of 6-DOF helicopter were relatively rare. Controllers for helicopters subject to input constraints were often designed partially saturated [4, 22−23] due to nonlinearities and c...

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“…The main theoretical results of this paper are based on the following proposition [18] . Proposition 1.…”

Section: Theoretical Preliminariesmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Nonlinear adaptive neural network control for a model-scaled unmanned helicopter

Zhu

2014

Nonlinear Dyn

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Boundary Control for a Vibrating String System with Bounded Input

Zhao

Liu

Luo

2017

Asian Journal of Control

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In this study, we deal with the control problem of a vibrating string system under the condition of restricted input and external disturbance. The major objectives are the development of a boundary vibration control scheme for globally stabilizing the string system and simultaneously for compensating the effect of the input saturation, and the design of a disturbance observer for tracking the external disturbance. To this end, a boundary control is proposed based on smooth hyperbolic function to suppress the vibration and eliminate the input restriction effect, and a disturbance observer is employed to mitigate the external disturbance. The asymptotic stability of the controlled system is demonstrated employing the extended LaSalle's invariance principle. In order to verify the control performance of the proposed control, simulation results are presented by the choice of proper control design parameters.

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Boundary Control for a Flexible Inverted Pendulum System Based on a PDE Model with Input Saturation

Peng

Liu

2017

Asian Journal of Control

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This research considers the control problem of a flexible inverted pendulum system (FIPS) in the presence of input saturation. The model for a flexible inverted pendulum system (FIPS) is derived via the Hamilton principle. The FIPS model is divided into a fast subsystem and a slow subsystem via the singular perturbation method. We introduce an auxiliary system to deal with the input saturation of a fast subsystem. To stabilize the fast subsystem, a boundary anti‐windup control force is applied at the free end of the beam. It is proven that the closed‐loop subsystem is stable. For the slow subsystem, a sliding mode control method is employed to design a controller and a new decoupling method to design the sliding surface. Then it is shown that the slow subsystem is stable. Finally, simulation results are provided to confirm the efficacy of the proposed controller.

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Simple Tracking Controllers for Autonomous VTOL Aircraft With Bounded Inputs

Cited by 90 publications

References 12 publications

Nonlinear adaptive neural network control for a model-scaled unmanned helicopter

Nonlinear adaptive neural network control for a model-scaled unmanned helicopter

Boundary Control for a Vibrating String System with Bounded Input

Boundary Control for a Flexible Inverted Pendulum System Based on a PDE Model with Input Saturation

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