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Robust tracking control of a quadrotor helicopter without velocity measurement
Abstract
In this paper, a robust output tracking controller for quadrotor helicopter is proposed. The proposed controller requires measurement of only four state variables: positions in inertial coordinate frame and yaw angle. Also, the controller is robust to unmodeled dynamics and provides rejections of all external force and torque disturbances. The effectiveness of the proposed controller is tested on a simulation example of quadrotor tracking under wind influence which is modeled as unmatched external force disturbances in horizontal plane. Copyright © (2012) by Danube Adria Association for Automation and Manufacturing (DAAAM).
... Significant cross-coupling is observed between the actions of the rotors, with each rotor influencing both angle positions [9]. Some aspects of the plant behaviour are similar to flying helicopters [10]. ...
... The moments present in the horizontal plane can be derived in the similar way as the moments in the horizontal plane. The moments of propulsive forces can be expressed as: (10) And the moment of friction is defined by the following equation: (11) The moment of inertia relative to the vertical axis is dependent on pitch position of the beam and can be expressed in the compact form: (12) where , , ...
... ,(10), (18) and (19) respectively. These functions have to be determined to design the final model. ...
The paper deals with modelling of a Twin Rotor MIMO System – a laboratory model constructed by Feedback Instruments Ltd. The system consists of a two rotors which resembles a simple helicopter. The non-stationary part of the model can rotate around two perpendicular axes to produce azimuth and elevation output of the system. These outputs are affected by speed of the rotors. Significant cross-coupling can be observed and the system behaviour is nonlinear. A model based on first–principle modelling was derived and is parameters were refined by identification based on real-time experiments. Resulting model was designed in MATLAB/Simulink environment and can serve for control design.
... Nowadays many methods have been developed to control quadcopter including linear and non-linear controls. Some previous studies were simulation's research of quadcopter controller using PD [5], PID [6] [7] [8] and sliding mode control (SMC) [9]. The PD controller can be reduced the uncertainties of a quadcopter by manually select filter parameters and the results show that the output can follow the reference but there is a steady state error when added disturbance [5]. ...
... The PID controller can follow the desired path but level of precision in moving need to be improved [6] [7] [8]. The simulation results of illustrate that proposed SMC controller provides significant reduction of disturbances influence on Quadcopter tracking performances but the gain of switching control could cause high chattering phenomenon if added external disturbance [9]. Based on some literature the SMC control has a robust response, although there is weakness such as high chattering. ...
... which are a thrust in z-axis (also known as vertical thrust) and three torques generated on orthogonal body axes [12,13]. The change in linear position on quadcopter inertial frame is affected by the force can be seen in (1) in which the total thrust in z-axis is affected only by the rotational matrix in zaxis. ...
... The formulation of this control system was performed by computing the integral of the error signal based on quadratic variable and regulator control in the LQR architecture control [14,15]. Basic equation of LQR can be seen in (10), (11), and (12) in which x and y represent input and output state, respectively. The symbol A, B, and C are positive matrix variables which represent uncertainties on the system, whereas u represent the state input vector. ...
... 7 The trajectory of the quadrotor landing is tracked by using a robust height controller. 8 The results indicate the performance in the presence of the ground effect has been improved for height tracking. ...
Modeling and control for a novel coaxial ducted fan aerial robot in-ground-effect is presented in this article. Based on experiments using the ducted fan bench test, the fitting curve of the ground effect thrust of the ducted fan aerial robot at different heights is obtained. In addition, the flow field simulation results of the prototype with ground effect at different heights can be obtained using computational fluid dynamics software. A simplified model of the prototype for control can be designed based on several reasonable hypotheses that are established using blade element and momentum theory. To compensate for the disturbance associated with ground effect, a nonlinear disturbance observer is designed to estimate the disturbance, and control structure of the closed-loop system is composed of a nonlinear disturbance observer combined with a double-loop proportion–integration–differentiation controller. The results of several numerical simulations and experiments demonstrate the effectiveness of this controller structure. The performances of tracking trajectory and system stability are improved significantly, compared to the situation that the ground effect is not compensated for.
... There are several interesting robust flight controllers proposed for solving the stabilization problem, for example, nested saturations controller, 1 super twisting control algorithm, 2 fuzzy control, 3 a backstepping approach taking into account the actuator faults, 4 among others. On the other hand, for the trajectory tracking problem, a feedback linearization controller with a high-order sliding mode differentiator 5 or observer, 6 a backstepping control with a sliding mode observer, 7 a combination of backstepping and sliding mode control, 8 a controller based on adaptive and sliding mode control, 9 and an adaptive backstepping controller based on invariant manifolds 10 have been applied with satisfactory results. Furthermore, some techniques from the intelligent control field such as neural networks with adaptive control, 11 or including sliding mode, control for robustness. ...
This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which takes into account external disturbances.
... Equation (1) through "(5)" demonstrate the transition between earth and body frames. (cos : c and sin : s) [6], [7]. ...
Recent developments in sensor technology,
actuators and energy storage devices provides opportunities for
development of micro flying robots. This paper provides
information about modeling and control of a Quadrotor.
Proportional Integral Derivative (PID) controller is designed for
altitude and attitude control of Quadrotor. Various simulations
were performed and it could be interpreted that the PID
controller is capable of tracking the desired reference values.
Finally, the last section is devoted for discussing the results of
each simulation.
... In | 122 | Section 3 backstepping controller for hexa-rotor microcopter is presented. Conclusions are given in Section 4. DYNAMIC MODELING OF HEXA-ROTOR MICROCOPTER The model [31][32][33][34][35][36][37][38][39][40][41][42][43][44][45][46] of the hexa-rotor helicopter and the rotational directions of the propellers are presented in Figure 3. This cross structure is quite thin and light, however it shows robustness by linking mechanically the motors. ...
Unmanned autonomous aerial vehicles have become a real center of interest. In the last few years, their utilization has significantly increased. During the last decade many research papers have been published on the topic of modeling and control strategies of autonomous multirotors. Today, they are used for multiple tasks such as navigation and transportation. This paper presents the development of a dynamic modeling and control algorithm-backstepping controller of an autonomous hexa-rotor microcopter. The autonomous hexa-rotor microcopter is an under-actuated and dynamically unstable nonlinear system. The model that represents the dynamic behavior of the hexa-rotor microcopter is complex. Unmanned autonomous aerial vehicles applications are commonly associated with exploration, inspection or surveillance tasks.
... This effect on the aerial vehicle's attitude is usually ignored, and its influence on aircraft dynamics has not been fully studied. Although robust control, e.g., integral sliding-mode control, can be used to guarantee the stability of the aerial vehicle without an explicit in-ground-effect model [16,17], the performance and response of the aircraft IGE and out-of-ground-effect (OGE) may differ. Attempts to employ an empirical IGE model into the controller design process have helped to improve stability and tracking performance of the aerial vehicle [10,[17][18][19]. ...
This paper focuses on modeling and control of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). As the vehicle flies and hovers over, around, or underneath obstacles, such as the ground, ceiling, and other features, the IGE induces a change in thrust that drastically affects flight behavior. This effect on each rotor can be vastly different as the vehicle's attitude varies, and this phenomenon limits the ability for precision flight control, navigation, and landing in tight and confined spaces. An exponential model describing this effect is proposed, analyzed, and validated through experiments. The model accurately predicts the quasi-steady IGE for an experimental quadcopter UAV. To compensate for the IGE, a model-based feed-forward controller and a nonlinear-disturbance observer (NDO) are designed for closed-loop control. Both controllers are validated through physical experiments, where results show approximately 23% reduction in the tracking error using the NDO compared to the case when IGE is not compensated for.
... The autonomous quadrotor helicopter is a small agile vehicle controlled by four rotors. The quadrotor architecture has low dimensions, good manoeuvrability, simple mechanics and payload capability [2,3]. ...
Autonomous outdoor quad-rotor helicopters increasingly attract the attention of potential researchers. Several structures and configurations have been developed to allow 3D movements. The quadrotor helicopter is made of a rigid cross frame equipped with four rotors. The autonomous quad-rotor architecture has been chosen for this research for its low dimension, good manoeuvrability, simple mechanics and payload capability. This article presents the modelling, control and navigation of an autonomous outdoor quad-rotor helicopter.
... Trajectory tracking has been the focus of many research works over the last few years. The work in [3] presented a controller which requires measurement of only four state variables: positions in inertial coordinate frame and yaw angle. The controller was tested in a simulation scenario of a quadrotor tracking under wind influence. ...
Quadrotor helicopters have been the focus of many research works during the last decade. Thanks to their numerous appealing features, their applications are increasingly reported in the literature. Their main limitation, however, is their lightweight which makes them sensitive to external disturbances. The aim of this paper is to achieve robust trajectory following for a Quadro-UAV, in the presence of wind disturbances. Two nonlinear controllers are designed and discussed, the first controller is based on Feedback Linearisation, while the second is designed using a Backstepping approach. Numerical simulations are provided to support the controllers design and assess their robustness to wind gust disturbances.
This paper presents dynamic modeling, classical and nonlinear control of flight of mesicopter. First, nonlinear multiple-input multiple-output model is derived taking into consideration the body and rotor gyroscopic effects, then three classical control methods for fast response with high performance are used and compared with respect to control effort. Mesicopters are always affected by uncertainties. Classical approach is not able to properly compensate these effects. To overcome this problem, model reference adaptive control is used with three different types based on single-input single-output linear equations, multiple-input multiple-output linear equations and nonlinear multiple-input multiple-output equations. Based on the simulation results, the adaptive control method with estimation mechanism improved performance, attitude stabilization and control of system states in different conditions. Stability is guaranteed by Lyapunov stability theory. Results demonstrate good performance of adaptive control for parameter uncertainty compensation.
This paper is dedicated to passification-based adaptive control design for quadrotor stabilization. We construct a stabilization system for a quadrotor using PD controllers and the feedback linearization method. Finally, we demonstrate simulation results and compare the new approach with two other control design methods.
This paper proposes a nonlinear control system for a quad rotor helicopter that aims to conduct wall inspection. Because wind reaction from a wall is significant when a helicopter approaches to the wall for its inspection, a robust controller is required. Firstly, the dynamics are derived by the Newton-Euler approach. A reference model with a cascaded control loop system including an inner loop for linearization and an outer loop for stabilization is designed. The inner loop uses feedback linearization. The outer loop uses state feedback control and a prefilter for stabilizing the linearized and decoupled multiple input and multiple output (MIMO) system. Unknown wind disturbances are considered and compensated by using a combined state and disturbance observer. The reference model generates a reference input for an embedded controller of a real plant. This proposed control system directly integrates measured distance into a feedback loop. Simulation results show the effectiveness of the nonlinear controller and observer.
There is a wide range of applications for unmanned aerial vehicles that requires the capability of having several and robust flight controllers available. This paper presents the main framework of a multi-mode flight control system for a quadrotor based on the super twisting control algorithm. The design stages for the four flight control modes encompassing manual, altitude, GPS fixed and autonomous mode are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions while the stability analysis for the complete system, when a transition from one mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is demonstrated in a simulation study taking into account external disturbances.
This paper proposes a new controller for an underactuated quad-rotor family of small-scale unmanned aerial vehicles (UAVs) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable. The design is performed via a Lyapunov type analysis. A semi- global uniformly ultimate bounded (SGUUB) tracking result is achieved. Simulation results are shown to demonstrate the proposed approach.