Trajectory control of a class of articulated aerial robots

Kobilarov, Marin

doi:10.1109/icuas.2013.6564782

Cited by 6 publications

(2 citation statements)

References 29 publications

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“…Myriad advanced methods, considered quadrotor attitude and altitude control design, have been proposed in literature such as backstepping (Kobilarov (2013(Kobilarov ( ), huo et al (2014, Jasim and Gu (2015)), feedback linearization (Voos (2009), Choi and Ahn (2015)), optimal control (Navabi and Mirzaei (2016)), Suicmez and Kutay (2014)), and robust control (Xiong and Zheng (2014)). This list is, of course, far from being exhaustive.…”

Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO) is developed for multi-input multi-output (MIMO) nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC) technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

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Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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“…Significant methods for controlling multirotor vehicles have been proposed in the literature in the past, including backstepping [1][2][3][4] and feedback linearization, 5,6 optimal control, and robust control approaches. 7 In addition to these methods, the linear quadratic regulator (LQR) controller method in refs.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive quadrotor position tracking control for uncertain and fault conditions

Artuc,

Bayezit

2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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The combination of nonlinear indirect and direct adaptive control with an active fault-tolerant framework is proposed in this paper for quadrotor position tracking control under uncertain and fault conditions. An inner loop direct model reference adaptive controller generates the required force while moving along the reference trajectory, while nonlinear indirect adaptive controller maintains the required attitude angles. Furthermore, for uncertain conditions, our proposed framework provides significantly stable characteristics. Otherwise, when a fault occurs at actuators or sensors, the quadrotor vehicle cannot guarantee global asymptotic stability. This study contributes to an active fault-tolerant control strategy for solving the complex position tracking problem using the adaptive two-stage Kalman filter (ATSKF). Based on the fault information, a fault compensation term is added to the control law to improve convergence and system robustness in the presence of uncertain and fault conditions. Finally, simulation results show satisfactory performance for quadrotor vehicle position tracking, even with actuator faults and uncertainties.

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On hybrid modeling and control of a multi-propeller multifunction aerial robot with flying-walking locomotion

Ding

2014

Auton Robot

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Trajectory control of a class of articulated aerial robots

Cited by 6 publications

References 29 publications

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Robust adaptive quadrotor position tracking control for uncertain and fault conditions

On hybrid modeling and control of a multi-propeller multifunction aerial robot with flying-walking locomotion

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