Stanislav Tomashevich

Bio: Stanislav Tomashevich is an academic researcher from Saint Petersburg State University of Information Technologies, Mechanics and Optics. The author has contributed to research in topics: Adaptive control & Adaptive coding. The author has an hindex of 6, co-authored 22 publications receiving 97 citations. Previous affiliations of Stanislav Tomashevich include Saint Petersburg State University & Russian Academy of Sciences.

Simple adaptive control of quadrotor attitude. Algorithms and experimental results

Abstract: In the paper the simple adaptive control approach is employed to designing the adaptive controllers of quadrotor angular motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The “shunting method” (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. Analytical justification of system stability is made by employing the Passification method. Quality of the closed-loop IRM adaptive control system is studied and compared with that of the proportionalderivative (PD) non-adaptive control system experimentally on two degrees of freedom (2DOF) quadrotor testbed and in-flight tests of the QuadRoy quadrotor for nominal and parametrically perturbed cases.

Experimental study on robust output control for quadcopters

Abstract: This paper describes an experimental applied study on advanced quadcopter control. A special setup is used to conduct a series of experiments of roll and pitch motion control. Three robust output controllers are verified. One of the controllers is the consecutive compensator, the remaining two are its modifications aimed to increase precision and reduce overshoot. Experiment specifications and comparative analysis of resultant performance of transient responses are reported in this paper.

Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization

Abstract: This paper proposes an auto-tuning adaptive proportional-integral-derivative control (APIDC) system for attitude and position stabilization of quadrotor unmanned aerial vehicle (UAV) under parameter uncertainties and external disturbances. By employing sliding mode control as the adaptive mechanism, this technique can overcome the manual controller’s re-tuning gains in a proportional-integral-derivative controller. Furthermore, a fuzzy compensator is used to eliminate the chattering phenomena caused by the sliding mode control. The auto-tuning process is based on the gradient descent technique and the Lyapunov stability theorem. Using simulations, the proposed APIDC scheme is able to achieve a satisfactory attitude and position tracking performance of the quadrotor UAV. The proposed APIDC system also shows high robustness under parameter uncertainties and external disturbances.

Altitude and Attitude Stabilization of UAV Quadrotor System using Improved Active Disturbance Rejection Control

Abstract: An improved active disturbance rejection control (IADRC) is proposed to stabilize and reject exogenous disturbances and system uncertainties for a 6-degree of freedom (DOF) quadrotor system. We used the nonlinear model of the 6-DOF quadrotor system to design four IADRC units for the altitude and attitude stabilization. Stability analysis is demonstrated for both the extended state observers of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. The simulations are implemented under the MATLAB environment where the parameters of the IADRC units are tuned to minimize the multi-objective output performance index. The unmanned aerial vehicle is tested with different tracking scenarios while subjected to exogenous disturbances and system parameter uncertainties. The performance of the proposed IADRC is compared with that of the PID controller, and the simulations revealed that the proposed IADRC scheme stabilized and excellently counteracted the exogenous disturbances and system uncertainties and outperformed the PID used in this work.

Survey of Security Protocols and Vulnerabilities in Unmanned Aerial Vehicles

Abstract: With the rapid growth in technology, the use of Unmanned Aerial Vehicles (UAVs) have increased in civil and military applications including rescue operations, disaster recovery, and military operations. Despite the utility and advantages of UAVs, they may lead to major security breaches in the context of hardware, software, and communication channel, due their ease of use and availability. UAVs are vulnerable to various types of attacks such as spoofing, false data injection, jamming, fuzzing, availability, confidentiality, and integrity attacks. To overcome these security threats, researchers have been investigating strong security protocols to keep UAVs safe from the attackers. Nevertheless, there are many flaws in the developed protocols which can be exploited by hackers. Therefore, it is becomes crucial to study and analyze the existing security protocols used in UAVs to discover and address their vulnerabilities and weaknesses. The purpose of this study is to explore the vulnerabilities in the security protocols and propose guidelines to improve the security and provide future research directions.

A Class of Proportional-Integral With Anti-Windup Controllers for DC–DC Buck Power Converters With Saturating Input

Abstract: In dc–dc buck power converters, a control action which is negative or greater than one has no physical meaning and is noncausal. For the sake of realism, the nonlinearity accompanying input saturation is taken into account in a model of dc–dc buck power converters, for which a Lyapunov function-based class of proportional-integral with anti-windup (PIAW) algorithms is given. Simple tuning guidelines ensure the global asymptotical stability of the closed-loop system. Neither the class of controllers nor the tuning procedure require the exact knowledge of the parameters of the power converter. To illustrate the results, a novel design matching the proposed class of controllers is given and the results of real-time experimental tests are presented, including the implementation of the linear proportional-integral (PI) control and a known anti-windup (AW) approach. The results confirm that the proposed PIAW control has the best performance even though saturation limits are activated and disturbances are present.