Manuel Guerrero-Medina

Bio: Manuel Guerrero-Medina is an academic researcher. The author has contributed to research in topics: Motion controller & PID controller. The author has an hindex of 1, co-authored 1 publications receiving 52 citations.

Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking

Abstract: A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given Gains are selected so that the three tested controllers present the same energy consumption In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators Specifically, the disturbance consists in attenuating the force delivered Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm

Robust adaptive nonsingular fast terminal sliding-mode tracking control for an uncertain quadrotor UAV subjected to disturbances

Abstract: This paper investigates the design of a robust controller for the trajectory tracking problem of an under-actuated quadrotor UAV subject to the modeling uncertainties and unknown external disturbances. A new robust nonlinear adaptive controller is proposed for orientation and translation tracking by using the Adaptive Nonsingular Fast Terminal Sliding-Mode Control (ANFTSMC) algorithms. The ANFTSM control law: (i) ensures fast convergence, i.e. the quadrotor outputs achieve to the original values in a short finite-time; ( i i ) avoids singularities; ( i i i ) solves the chattering effect; ( i v ) offers robustness against the unknown external disturbances and uncertainties. Furthermore, the system unknown uncertainty and external disturbances upper bound are coped by the proposed control approach. Online estimation of these upper bounds is only introduced by velocity and position measurements. In addition, the control law applies the Lyapunov theory, guarantees the closed-loop stability of the quadrotor system. Finally, various simulations under different scenarios in terms of external disturbances and parametric uncertainties are carried out to evaluate/emphasize the effectiveness of the ANFTSMC strategy proposed in this work. Moreover, a comparative study is accomplished at the end of the present paper and shows clearly the outperformance of the proposed control scheme.

Robust PID control of quadrotors with power reduction analysis.

Abstract: This paper presents a novel robust controller applied to a quadrotor vehicle for regulation and trajectory tracking tasks. In the proposed scheme, the quadrotor position is controlled by a proportional integral derivative (PID) controller, while the orientation control is achieved through a model-based controller. The proposed controller is combined with a power reduction methodology, which includes a controller-gains tuning stage using the cuckoo search algorithm, and a minimum jerk trajectory design stage. The performance of the new controller is assessed in a free-disturbance case and under the effect of parametric uncertainty and aero-dynamical disturbances. The new controller is compared against two linear PID controllers and a nonlinear sliding mode-based controller. Numerical simulations demonstrate the superiority of the proposed scheme as well as its robustness against different types of perturbations. Also, it is proven that the power demanded by any controller is reduced when using the power reduction methodology.

Composite Disturbance Rejection Attitude Control for Quadrotor With Unknown Disturbance

Abstract: In this article, a composite disturbance rejection control method is proposed for attitude control of quadrotor using an inner–outer loop control framework, which can effectively improve the angular tracking performance of the quadrotor and achieve the active disturbance rejection. In the inner loop, a novel nonlinear extended state observer (NESO) is designed to estimate the disturbance and nonlinear part of the system model, then a robust control law is embedded in inner-loop controller to attenuate the effect of the estimation error. In the outer loop, a composite nonlinear feedback (CNF) controller is designed to improve the transient performance. Moreover, the stability of two loops are also analyzed, respectively. Numerical simulation and platform experiment are carried out to verify the efficiency of the proposed method.

Sliding Mode Dual-Channel Disturbance Rejection Attitude Control for a Quadrotor

Abstract: In this article, a sliding mode dual-channel disturbance rejection control based on an extended state observer is proposed for the attitude control of a quadrotor under unknown disturbances. There exist an inner disturbance rejection channel (IDRC) and an outer disturbance rejection channel (ODRC) in this control scheme. In the IDRC, a low-frequency disturbance compensator is proposed to obtain the disturbance compensation value and to compensate the low-frequency component of the lumped disturbance. In the ODRC, a novel sliding mode controller with a variable-gain switching term and a constant-gain switching term is designed, and the switching terms are used to compensate the virtual disturbance estimation error and the high-frequency component of the lumped disturbance. The low-frequency and high-frequency components of the lumped disturbance can be estimated and the influence of the virtual disturbance estimation error is reduced by using the proposed control scheme. The stability of the system is proved by using the Lyapunov theory. Finally, the effectiveness of the proposed scheme is tested by numerical simulations and platform experiments.