Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance

Wang, Chen; Song, Bifeng; Huang, Panfeng; Tang, Changhong

doi:10.1007/s10846-016-0333-4

Cited by 88 publications

(44 citation statements)

References 23 publications

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“…In [15], least square and gradient methods are implemented for adaptive parameter estimation, which are used to update the control output to the current UAV mass and inertia moment. Recently, Wang [16] applied again the same strategy to estimate the variations in the payload and the effect of the wind gusts.…”

Section: Introductionmentioning

confidence: 99%

Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Sierra

Santos

2019

Complexity

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In this work, a new intelligent control strategy based on neural networks is proposed to cope with some external disturbances that can affect quadrotor unmanned aerial vehicles (UAV) dynamics. Specifically, the variation of the system mass during logistic tasks and the influence of the wind are considered. An adaptive neuromass estimator and an adaptive neural disturbance estimator complement the action of a set of PID controllers, stabilizing the UAV and improving the system performance. The control strategy has been extensively tested with different trajectories: linear, helical, circular, and even a lemniscate one. During the experiments, the mass of the UAV is triplicated and winds of 6 and 9 in Beaufort’s scale are introduced. Simulation results show how the online learning of the estimator increases the robustness of the controller, reducing the effects of the changes in the mass and of the wind on the quadrotor.

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Section: Introductionmentioning

confidence: 99%

Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Sierra

Santos

2019

Complexity

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“…We assume that the rotor R1 fails in the 6th second, and loses 20% of effectiveness, which means T 1 = 6 s and α 1 = 0.2 in Equation (13). Then, according to [15], the disturbance torque caused by the wind field is proportional to the wind speed, and we assume that the three-axis components of The numerical simulation is carried out in MatLab/Simulink with a fixed-sampling time of 1 ms. And to validate the performance of the proposed control strategy, two simulation cases are presented in this part. The initial conditions of the attitude angles and angular velocities are set to zero, and the desired reference commands are selected as:…”

Section: Simulation Resultsmentioning

confidence: 99%

“…To solve this problem, many approaches have been proposed in literatures. Robust adaptive controller was introduced to eliminate the influence of wind gust in [15]. In [16], robust optimal backstepping control (ROBC) is designed to address the stabilization and trajectory tracking problem of quadrotor in the existence of wind gust.…”

Section: Introductionmentioning

confidence: 99%

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Shi

Chou

2018

Electronics

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This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

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“…In order to simplify the modelling, a few assumptions are made first as follows [20,21]: Assumption 1. The body of the quadrotor system is rigid and strictly symmetrical.…”

Section: Control Principlementioning

confidence: 99%

Quadrotor UAV flight control via a novel saturation integral backstepping controller

et al. 2019

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In this paper, in order to reduce the influence on quadrotor flight from different external disturbances, a novel nonlinear robust controller is designed and used in the quadrotor system. At first, a nonlinear dynamic model of the quadrotor is formulated mathematically. Then, a quadrotor flight controller is designed with the method of classical backstepping control (CBC) and the nonlinear system using this controller is proved to be asymptotically stabilized by the Lyapunov stability theory when there is no external disturbance. At last, a new nonlinear robust controller established by the introduction of both the saturation function and the integral of error into CBC is designed and named as saturation integral backstepping control (SIBC). The boundedness of the nonlinear system under external disturbances is verified by the uniformly ultimately bounded theorem of the nonvanishing perturbation. The numerical simulations of hovering and trajectory tracking are carried out using MATLAB/SIMULINK taking the external disturbances into consideration. In addition, a series of outdoor flight experiments were completed on the actual experimental equipments of quadrotor UAV under the time-varying disturbance from wind. According to the simulation and flight experiment results, the proposed SIBC strategy shows a superior robustness than CBC and integral backstepping control (IBC) strategy. ARTICLE HISTORY

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Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance

Cited by 88 publications

References 23 publications

Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Wind and Payload Disturbance Rejection Control Based on Adaptive Neural Estimators: Application on Quadrotors

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Quadrotor UAV flight control via a novel saturation integral backstepping controller

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