Three‐time scale singular perturbation control and stability analysis for an autonomous helicopter on a platform

Esteban, Sergio; Gordillo, Francisco; Aracil, J.

doi:10.1002/rnc.2823

Cited by 52 publications

(30 citation statements)

References 49 publications

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“…Inspired by [28], the fast control law is designed first to stabilize the fast varying system. The feasibility of this proposed procedure will be analyzed afterwards.…”

Section: Control Design For the Fshvmentioning

confidence: 99%

“…In the simulation, the irregular wave disturbance is simulated based on trip theory and equivalent energy division method, with the significant wave height 1/3 = 1.5 m. To validate the disturbance attenuation performance, a standard state feedback singular perturbation approach [28,30] is established for comparison.…”

Section: Simulationmentioning

confidence: 99%

“…Singular perturbation approach is such a method to analyze and separate different time scale motions in control problems [27][28][29][30]. In this approach, by introducing a small time scale parameter , the overall system is decomposed into two different time scale subsystems, namely, the quasi-steady-state (slow) subsystem and the boundary-layer (fast) subsystem.…”

Section: Introductionmentioning

confidence: 99%

“…And this methodology has been applied in nonlinear systems such as control practices in aerospace and UAV systems [27][28][29][30] for many years. However, to the best of our knowledge, although singular perturbation method has been reported for motion control of conventional marine vessels [31,32], applications on multi-degree-of-freedom stabilization of marine vessels with actuator dynamics can rarely be seen in the open literatures.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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This paper presents a two-time scale control structure for the course keeping of an advanced marine surface vehicle, namely, the fully submerged hydrofoil vessel. The mathematical model of course keeping control for the fully submerged hydrofoil vessel is firstly analyzed. The dynamics of the hydrofoil servo system is considered during control design. A two-time scale model is established so that the controllers of the fast and slow subsystems can be designed separately. A robust integral of the sign of the error (RISE) feedback control is proposed for the slow varying system and a disturbance observer based state feedback control is established for the fast varying system, which guarantees the disturbance rejection performance for the two-time scale systems. Asymptotic stability is achieved for the overall closed-loop system based on Lyapunov stability theory. Simulation results show the effectiveness and robustness of the proposed methodology.

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“…Inspired by [28], the fast control law is designed first to stabilize the fast varying system. The feasibility of this proposed procedure will be analyzed afterwards.…”

Section: Control Design For the Fshvmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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“…These two approaches logically select the slow and fast dynamics sequentially. The details of these two approaches can be found in [24], [29]. The Bottom-Up approach is considered here in this paper to understand the natural evolution of the multi-time scale singularly perturbed systems in their own configuration spaces.…”

Section: A Asymptotic Stability Analysis Of Multi-time Scale Singulamentioning

confidence: 99%

Three time scale behaviour analysis of the Leader Follower formation of multiple groups of nonholonomic robots

Sarkar

Kar

2015

2015 American Control Conference (ACC)

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Formation control of multiple groups of agents finds application in generating different geometric patterns and shapes for wide area navigation, and also in locking known static or moving objects. Our previous work [30] entails defining a topology to capture the constraint relationship among multiple groups of robots by means of Centroid Based Transformation (CBT). The calculation of centroid requires information of all the robots of all the groups. In an attempt to reduce the communication overhead, we define a Leader Follower based topology, here in this paper, and introduce Leader Follower Based Transformation (LFT) for multiple groups of robots. LFT decomposes the collective dynamics of nonholonomic wheeled mobile robots into intra and inter group shape variables, and overall leader of the group. This hierarchy gives the flexibility to design separate control laws for intra group, inter group shape variables, and the tracking control of the leader. A new control law has been proposed such that the overall error dynamics becomes singularly perturbed system. Three time scale convergence of the error dynamics, has been achieved by selecting suitable controller gains, and also order of the system is significantly reduced after the convergence of the intra and inter group shape variables. Negative gradient of a potential based function has been added to the controller to ensure collision avoidance among the agents. Simulation results has been provided to demonstrate the effectiveness of the proposed controller.

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Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

Chen

Wang

et al. 2016

Asian Journal of Control

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This work addresses the aerodynamic modeling and near-hover-flight control design for an unconventional aerial robot of the tandem ducted fan configuration, which is intended to be prototypical of a flight service vehicle. The main model elements of this novel unmanned vehicle, which exhibit highly nonlinear and unstable open-loop modes, are presented. A frequencydomain controllability analysis concerning the plant's behavior around the hovering flight condition is then adopted to determine the expected control performance, which is of important practical significance to controllability improvement through vehicle design changes. A robust controller that stabilizes the unmanned vehicle under wind disturbances is designed using a newly developed nonsmooth optimization algorithm, which rigorously and efficiently tunes the arbitrarily predefined structured controller against multiple control requirements. A successive two-loop architecture is employed in the designed controller. In this architecture, the inner loop provides stability augmentation and decoupling, and the outer loop guarantees the desired velocity tracking performance. Simulation results under stochastic wind gusts are presented to verify the performance of the proposed controllers. Preliminary flight tests are also carried out to demonstrate the performance of the system.

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Three‐time scale singular perturbation control and stability analysis for an autonomous helicopter on a platform

Cited by 52 publications

References 49 publications

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Three time scale behaviour analysis of the Leader Follower formation of multiple groups of nonholonomic robots

Robust Flight Control Using Nonsmooth Optimization for a Tandem Ducted Fan Vehicle

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