Structure Regulator for the Perturbations Attenuation in a Quadrotor

Rubio, José de Jesús; Ochoa, Genaro; Mújica-Vargas, Dante; García, Enrique; Balcazar, Ricardo; Elias, Israel; Cruz, David Ricardo; Juarez, Cesar Felipe; Aguilar, Arturo; Novoa, Juan Francisco

doi:10.1109/access.2019.2941232

Cited by 70 publications

(20 citation statements)

References 31 publications

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“…From Equations (29) and (30), it can be noted that x −x and d −d converge to a desired small neighborhood of zero for t ∈ [t 1 + t 2 , +∞). The proof of Theorem 1 has been completed.…”

Section: Of 26mentioning

confidence: 99%

“…Kumar et al [29] investigated an intelligent adaptive fractional order fuzzy sliding mode proportional integral and derivative controller for a two link robotic manipulator system. Rubio [30] put forward a structure regulator for the perturbation attenuation on the basis of the infinite structure regulator. The active disturbance rejection control (ADRC) scheme, based on extended state observer (ESO), can be an effective way to weaken the influence of external disturbances and modeling uncertainties.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng

Wang

Liu

et al. 2020

Sensors

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This study is concerned with the attitude control problem of variable-structure near-space vehicles (VSNSVs) with time-varying state constraints based on switched nonlinear system. The full states of vehicles are constrained in the bounded sets with asymmetric time-varying boundaries. Firstly, considering modeling uncertainties and external disturbances, an extended state observer (ESO), including two distinct linear regions, is proposed with the advantage of avoiding the peaking value problem. The disturbance observer is utilized to estimate the total disturbances of the attitude angle and angular rate subsystems, which are described in switched nonlinear systems. Then, based on the estimation values, the asymmetric time-varying barrier Lyapunov function (BLF) is employed to construct the active disturbance rejection controller, which can ensure the full state constraints are not violated. Furthermore, to resolve the ‘explosion of complexity’ problem in backstepping control, a modified dynamic surface control is proposed. Rigorous stability analysis is given to prove that all signals of the closed-loop system are bounded. Numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.

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Section: Of 26mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Feng

Wang

Liu

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…There are several control approaches, such as the statespace method in modern control (Rubio et al, 2019a), and its successful application in electric vehicle control (Gao et al, 2020), perturbations attenuation (Rubio et al, 2019b) and manipulator control (Rubio, 2018). Admittance algorithms in classical control are often used and successfully applied in many rehabilitation systems for active training.…”

Section: Introductionmentioning

confidence: 99%

Development of an Improved Rotational Orthosis for Walking With Arm Swing and Active Ankle Control

Zhang

Yang

et al. 2020

Front. Neurorobot.

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Based on interlimb neural coupling, gait robotic systems should produce walking-like movement in both upper and lower limbs for effective walking restoration. Two orthoses were previously designed in our lab to provide passive walking with arm swing. However, an active system for walking with arm swing is desirable to serve as a testbed for investigation of interlimb neural coupling in response to voluntary input. Given the important function of the ankle joint during normal walking, this work aimed to develop an improved rotational orthosis for walking with arm swing, which is called ROWAS II, and especially to develop and evaluate the algorithms for active ankle control. After description of the mechanical structure and control schemes of the overall ROWAS II system, the closed-loop position control and adjustable admittance control algorithms were firstly deduced, then simulated in Matlab/Simulink and finally implemented in the ROWAS II system. Six able-bodied participants were recruited to use the ROWAS II system in passive mode, and then to estimate the active ankle mechanism. It was showed that the closed-loop position control algorithms enabled the ROWAS II system to track the target arm-leg walking movement patterns well in passive mode, with the tracking error of each joint <0.7 • . The adjustable admittance control algorithms enabled the participants to voluntarily adjust the ankle movement by exerting various active force. Higher admittance gains enabled the participants to more easily adjust the movement trajectory of the ankle mechanism. The ROWAS II system is technically feasible to produce walking-like movement in the bilateral upper and lower limbs in passive mode, and the ankle mechanism has technical potential to provide various active ankle training during gait rehabilitation. This novel ROWAS II system can serve as a testbed for further investigation of interlimb neural coupling in response to voluntary ankle movement and is technically feasible to provide a new training paradigm of walking with arm swing and active ankle control.

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“…Several nonlinear control approaches have been proposed to overcome the shortcomings of traditional linearization approaches [4][5][6][7][8][9][10]; one popular approach is nonlinear dynamic inversion (NDI) control. NDI control eliminates the nonlinearities in the aircraft system by state feedback, then the nonlinear model is transformed into a linear one controlled by a virtual linear input.…”

Section: Introductionmentioning

confidence: 99%

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

2020

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In this paper, a two-loop fault-tolerant attitude control scheme is proposed for flying-wing aircraft with actuator faults. A regular nonlinear dynamic inversion (NDI) control is used in the outer attitude loop, and a finite time convergence incremental nonlinear dynamic inversion (FINDI) control combined with control allocation strategy is used in the inner angular rate loop. Prescribed performance bound (PPB) is designed to constrain the tracking errors within a residual set, so the prescribed system performance can be guaranteed. An optimal anti-windup (AW) compensator is introduced to solve the actuator saturation problem. Simulation results demonstrate the effectiveness of the proposed approach.

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Structure Regulator for the Perturbations Attenuation in a Quadrotor

Cited by 70 publications

References 31 publications

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Variable-Structure Near-Space Vehicles with Time-Varying State Constraints Attitude Control Based on Switched Nonlinear System

Development of an Improved Rotational Orthosis for Walking With Arm Swing and Active Ankle Control

Finite Time Convergence Incremental Nonlinear Dynamic Inversion-Based Attitude Control for Flying—Wing Aircraft with Actuator Faults

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