Mahdis Bisheban

Bio: Mahdis Bisheban is an academic researcher from George Washington University. The author has contributed to research in topics: Control theory & Adaptive control. The author has an hindex of 7, co-authored 12 publications receiving 107 citations. Previous affiliations of Mahdis Bisheban include Islamic Azad University & University of Gilan.

Geometric Adaptive Control With Neural Networks for a Quadrotor in Wind Fields

Abstract: This article presents a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by the arbitrary, unstructured forces and moments caused by wind. To address this, the proposed control system is augmented with the multilayer neural networks, and the weights of the neural networks are adjusted online according to an adaptive law. By using the universal approximation theorem, it is shown that the effects of the unknown disturbances can be mitigated. More specifically, under the proposed control system, the tracking errors in the position and heading directions are uniformly ultimately bounded. These are developed directly on the special Euclidean group to avoid the complexities or singularities inherent to local parameterizations. The efficacy of the proposed control system is first illustrated by numerical examples. Then, several indoor flight experiments are presented to demonstrate that the proposed controller successfully rejects the effects of wind disturbances even for aggressive, agile maneuvers.

Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection

Abstract: This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of the proposed controller is analyzed with Lyapunov stability theory on the special Euclidean group, and it is shown that the tracking errors are uniformly ultimately bounded with an ultimate bound that can be abridged arbitrarily. A mathematical model of wind disturbance on the quadrotor dynamics is presented, and it is shown that the proposed adaptive controller is capable of rejecting the effects of wind disturbances successfully. These are illustrated by numerical examples.

An online optimal linear state feedback controller based on MLS approximations and a novel straightforward PSO algorithm

Abstract: Selection of control parameters is an important issue in the field of control design. This selection depends on the initial condition of the systems. On the other hand, controller parameters should...

Geometric Controls of a Quadrotor UAV with Decoupled Yaw Control

Abstract: This paper presents a geometric control system for a quadrotor unmanned aerial vehicle with decoupled attitude controls. In particular, the attitude control system on the special orthogonal group is decomposed into the reduced attitude controls for the total thrust direction evolving on the two-dimensional unit sphere, and for the remaining one-dimensional rotations about the thrust vector corresponding to the yawing motion. Consequently, the yaw dynamics are controlled separately from the roll and pitch dynamics that are critical for the stability of the translational dynamics of the quadrotor. As such, the proposed controller exhibits improved position tracking capabilities especially for large-angle yawing motions. These are constructed directly on the two-sphere and the one-sphere to avoid complexities and singularities associated with local coordinates. Furthermore, the control systems are augmented with integral terms to deal with fixed disturbances. The efficacy of the proposed method is illustrated by numerical simulation.

Simulating Hamiltonian dynamics.

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Aircraft System Identification Theory And Practice

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Path-Following Control of A Quadrotor UAV With A Cable-Suspended Payload Under Wind Disturbances

Abstract: A path-following controller based on an uncertainty and disturbance estimator (UDE) for a quadrotor with a cable-suspended payload is proposed in this paper. The quadrotor and the payload are subject to unknown wind disturbances. The controller resembles a cascade architecture. For the outer loop, a UDE-based translational control law is proposed. The controller asymptotically stabilizes the quadrotor along a given path and estimates the lumped disturbances with a low-pass filter. For the inner loop, an attitude tracking controller is used to control the direction of the lift vector so that the actual lift force can asymptotically follow the reference force generated by the translational controller. The stability of the system with the translational controller and the attitude tracking controller has been shown to be asymptotically stable using the reduction theorem. With the help of the reduction theorem, the design of the translational and the attitude control can be decoupled, providing the flexibility of implementing different attitude controllers without redoing the stability analysis. As shown in the simulation, the control law can stabilize the quadrotor on the desired path under different wind disturbances.