Trajectory Tracking with Adaptive Robust Control for Quadrotor

Espinoza-Fraire, Tadeo; Saenz, Armando; Salas, Francisco; Juárez, R.; Giernacki, Wojciech

doi:10.3390/app11188571

Cited by 8 publications

(6 citation statements)

References 25 publications

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“…where ψ d is the desired yaw angular position and a ψ 1 , a ψ 2 are constants for tuning PD controller in the yaw axis. Afterwards, introducing (11) into the horizontal dynamics of ( 8) and assuming that c 1 is small enough means that the vehicle has achieved the required altitude, and hence this variable c 1 → 0 for a time T, so the dynamics in the axis x and y are ẍ ≈ −g tan θ cos φ (15) ÿ ≈ g tan φ (16)…”

Section: Altitude and Yaw Controlmentioning

confidence: 99%

“…We will use for x-trajectory control the same procedure used in the previous section for y-trajectory control. We now consider the dynamics in Pitch axis given by (15). Considering small angles in the same way as the above analysis and the fact that cos φ ≈ 0 in the x-dynamics, we have…”

Section: Trajectory-tracking Control On the X-axismentioning

confidence: 99%

“…The second presents a trajectory tracking strategy based on attitude stabilization. In [15], three robust mechanisms based on sliding-mode control and MIT rule are proposed. Its robust methods have to tune the gains of a PD adaptive controller to direct the Quadrotor in a predefined trajectory.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

González-Hernández

Salazar

Lozano

et al. 2022

Drones

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This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control based on second-order sliding mode technique or also known as super-twisting algorithm in outdoor environments. This nonlinear control strategy guarantees the convergence in finite time to a desired path r(t) in the presence of external disturbances or uncertainties in the model affecting the appropriate behavior of our Quadrotor helicopter. For this purpose, a polynomial smooth curve trajectory is selected as a reference signal where the corresponding derivatives of the function are bounded. Moreover, we consider disturbances due to wind gusts acting on the aerial vehicle, and the reference signal is pre-programmed in an advanced autopilot system. The proposed solution consists of implementing a real-time control law based on super-twisting control using GPS measurements in order to obtain the position in the xy-plane to accomplish the desired trajectory. Simulation and experimental results of trajectory-tracking control are presented to demonstrate the performance and robustness of the proposed nonlinear controller in windy conditions.

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Section: Altitude and Yaw Controlmentioning

confidence: 99%

Section: Trajectory-tracking Control On the X-axismentioning

confidence: 99%

See 1 more Smart Citation

Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

González-Hernández

Salazar

Lozano

et al. 2022

Drones

View full text Add to dashboard Cite

show abstract

“…Moreover, nonlinear controllers based on sliding modes [32][33][34] and backstepping [35][36][37] approaches have been suitably introduced to deal with disturbances and uncertainties in quadrotor vehicles and, in some studies, further extended for fault tolerant controllers. In addition, important contributions based on theories such as robust H ∞ control [38], model predictive control [39], generalized proportional-integral control [40], energy-based control [41,42], optimal control [21,43], Lyapunov-based control [44], adaptive control [45,46], etc., have vastly improved the performance of quadrotors in regulation and tracking tasks. Nevertheless, to the best knowledge of the authors, there is no previous report taking advantage of the capabilities of virtual vibration absorbers for suppressing undesirable harmonic forces and torques in quadrotor motion trajectory tracking control design.…”

Section: Introductionmentioning

confidence: 99%

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Beltrán-Carbajal

Yañez-Badillo²,

Tapia‐Olvera

et al. 2022

Mathematics

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Conventional dynamic vibration absorbers are physical control devices designed to be coupled to flexible mechanical structures to be protected against undesirable forced vibrations. In this article, an approach to extend the capabilities of forced vibration suppression of the dynamic vibration absorbers into desired motion trajectory tracking control algorithms for a four-rotor unmanned aerial vehicle (UAV) is introduced. Nevertheless, additional physical control devices for mechanical vibration absorption are unnecessary in the proposed motion profile reference tracking control design perspective. A new dynamic control design approach for efficient tracking of desired motion profiles as well as for simultaneous active harmonic vibration absorption for a quadrotor helicopter is then proposed. In contrast to other control design methods, the presented motion tracking control scheme is based on the synthesis of multiple virtual (nonphysical) dynamic vibration absorbers. The mathematical structure of these physical mechanical devices, known as dynamic vibration absorbers, is properly exploited and extended for control synthesis for underactuated multiple-input multiple-output four-rotor nonlinear aerial dynamic systems. In this fashion, additional capabilities of active suppression of vibrating forces and torques can be achieved in specified motion directions on four-rotor helicopters. Moreover, since the dynamic vibration absorbers are designed to be virtual, these can be directly tuned for diverse operating conditions. In the present study, it is thus demonstrated that the mathematical structure of physical mechanical vibration absorbers can be extended for the design of active vibration control schemes for desired motion trajectory tracking tasks on four-rotor aerial vehicles subjected to adverse harmonic disturbances. The effectiveness of the presented novel design perspective of virtual dynamic vibration absorption schemes is proved by analytical and numerical results. Several operating case studies to stress the advantages to extend the undesirable vibration attenuation capabilities of the dynamic vibration absorbers into trajectory tracking control algorithms for nonlinear four-rotor helicopter systems are presented.

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“…For instance, the scheme of the parameter's self-adjusting law and MFAC overcomes the parameter tuning process of the controller, and it is applicable to tracking the trajectory control in the PAM elbow robots [41]. Moreover, sliding mode control (SMC) acts as a useful nonlinear tool for dynamic systems exhibiting uncertain and bounded disturbances [42]. By combining the MFAC and the sliding mode exponential reaching law, a position tracking controller for a five-DOF upper-limb exoskeleton was proposed to assist victims of stroke in passive robot-assisted rehabilitation training [43].…”

Section: Introductionmentioning

confidence: 99%

Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

et al. 2021

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In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot-assisted rehabilitation. The proposed method is capable of addressing the defect of the initial error in the controller design and the application by adopting a tuning function, as compared with other prescribed performance methods. Moreover, the method developed here was not determined by the dynamic model parameters, which merely exploit the input and output data. Theoretically, the stability exhibited by the proposed controller and the tracking performance can be demonstrated. From the experimental results, the root mean square of the tracking error is equal to 1.06 degrees, and the steady-state tracking error converges to 1.91 degrees. These results can verify the expected performance of the developed control method.

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Trajectory Tracking with Adaptive Robust Control for Quadrotor

Cited by 8 publications

References 25 publications

Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

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