A novel guidance algorithm and comparison of nonlinear control strategies applied to an indoor quadrotor
01 Jan 2019-pp 466-471
TL;DR: The robustness and effectiveness of the proposed control law are validated through simulations and experiments under external disturbances, and the test-bench results are compared with those obtained from PI-PID and backstepping control.
Abstract: In this paper we propose a cascaded approach for the full control of a quadrotor operating in indoor spaces. Sliding mode controller with a saturation function is applied to achieve robust attitude tracking performance without control chattering. A novel guidance algorithm and a feedback-linearization based position controller is proposed, which ensures that the MAV follows the shortest path between the waypoints. Also, we discuss the on-board implementation of state-estimation and 3D localization techniques for an MAV. The robustness and effectiveness of the proposed control law are validated through simulations and experiments under external disturbances. Further, the test-bench results are compared with those obtained from PI-PID and backstepping control.
Citations
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TL;DR: In this paper, the authors proposed a new method based on the firstly proposed convergence rate formula to achieve the optimal weighting matrices of LQR such that the composite controller can reduce the amplitudes of system control inputs.
Abstract: Design of tracking controller for quadrotor is an important issue for many engineering fields such as COVID-19 epidemic prevention, intelligent agriculture, military photography and rescue nowadays. This study applies the feedback linearized method and linear quadratic regulator (LQR) method using particle swarm optimization (PSO) to analysis and stabilize the highly nonlinear quadrotor system without applying any nonlinear function approximator that includes neural network approach and fuzzy approach. The article proposes a new method based on the firstly proposed convergence rate formula to achieve the optimal weighting matrices of LQR such that the composite controller can reduce the amplitudes of system control inputs. Determination of the LQR tuning parameters is conventionally achieved via trial and error approach. In addition to being very troublesome, it is difficult to find the globally best tuning matrices with LQR method. This article firstly uses the convergence rate formula of the nonlinear system as the fitness function of LQR approach by using PSO to take the place of the trial and error method. The generalities and implications of proposed approach are globally valid, whereas the Jacobian linearized approach is locally valid due to the Taylor expansion theorem. In addition to these two major achievements, the significant innovation of the proposed method is to possess “simultaneously” additional performances including the almost disturbance decoupling, input amplitude reduction, tuning parameter optimization and globally exponential stability performances. Comparative examples show that the convergence rate with our proposed optimal controller using the PSO algorithm is larger than the fuzzy method, and better than the singular perturbation method with high-gain feedback.
13 citations
TL;DR: This paper investigates and applies a revisited formulation of a reference model-based control strategy by introducing a boosting mechanism, inspired from the popular Active Disturbance Rejection Control technique, and shows promising results by improving the nominal control technique.
Abstract: It is relevant to develop an adequate control algorithm for quadrotors that guarantees a good compromise robustness/ performance. This compromise should be ensured with or without external disturbances. In this paper, we investigate and apply a revisited formulation of a reference model-based control strategy by introducing a boosting mechanism. This mechanism uses an Extended State-based Observer (ESO) to estimate the uncertainties and variety of disturbances. The estimation is continually updated and rejected from the main control loop. The reinforcement principle is inspired from the popular Active Disturbance Rejection Control (ADRC) technique in order to enhance the robustness ability of a nonlinear reference model-based control strategy (i.e. Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC)). The obtained controller is augmented by an additional input, which is derived via sliding modes framework to handle the estimation errors and ensure asymptotic stability. This combination leads to promising results by improving the nominal control technique. The primary results are shown through numerical simulations and are confirmed, experimentally, with several scenarios.
5 citations
TL;DR: In this article , the authors combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces.
Abstract: Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning algorithm - PiP-X, using finite-time invariant sets - funnels. We combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces. A volumetric funnel-graph is constructed using sampling-based methods, and an optimal funnel-path from robot configuration to a desired goal region is then determined by computing the shortest-path subtree in it. Analysing and formally quantifying the stability of trajectories using Lyapunov level-set theory ensures kinodynamic feasibility and guaranteed set-invariance of the solution-paths. The use of incremental search techniques and a pre-computed library of motion-primitives ensure that our method can be used for quick online rewiring of controllable motion plans in densely cluttered and dynamic environments. We represent traversability and sequencibility of trajectories together in the form of an augmented directed-graph, helping us leverage discrete graph-based replanning algorithms to efficiently recompute feasible and controllable motion plans that are volumetric in nature. We validate our approach on a simulated 6DOF quadrotor platform in a variety of scenarios within a maze and random forest environment. From repeated experiments, we analyse the performance in terms of algorithm-success and length of traversed-trajectory.
15 Dec 2022
TL;DR: In this article , the authors combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces.
Abstract: Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a novel online single-query sampling-based motion re-planning algorithm - PiP-X, using finite-time invariant sets - funnels. We combine concepts from sampling-based methods, nonlinear systems analysis and control theory to create a single framework that enables feedback motion re-planning for any general nonlinear dynamical system in dynamic workspaces. A volumetric funnel-graph is constructed using sampling-based methods, and an optimal funnel-path from robot configuration to a desired goal region is then determined by computing the shortest-path subtree in it. Analysing and formally quantifying the stability of trajectories using Lyapunov level-set theory ensures kinodynamic feasibility and guaranteed set-invariance of the solution-paths. The use of incremental search techniques and a pre-computed library of motion-primitives ensure that our method can be used for quick online rewiring of controllable motion plans in densely cluttered and dynamic environments. We represent traversability and sequencibility of trajectories together in the form of an augmented directed-graph, helping us leverage discrete graph-based replanning algorithms to efficiently recompute feasible and controllable motion plans that are volumetric in nature. We validate our approach on a simulated 6DOF quadrotor platform in a variety of scenarios within a maze and random forest environment. From repeated experiments, we analyse the performance in terms of algorithm-success and length of traversed-trajectory.
References
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Book•
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
15,545 citations
"A novel guidance algorithm and comp..." refers background or methods in this paper
...According to [6], error bounds on s translates to bounds on error in states as, |s1| 6 μ1 =⇒ |x̃1| 6 μ1 λ1 and | ̇̃ x1| 6 2μ1 (19) Lastly, introduction of an integral term in the sliding surface reduces the steady state error and improves the tracking performance....
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...Other classes of controllers, PI-PID, backstepping [5] and conventional sliding mode control [6], were implemented on the test bench and compared....
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...Therefore, the overall stability of the rotational subsystem is guaranteed [6]....
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12 Aug 2011
TL;DR: This paper presents a novel orientation algorithm designed to support a computationally efficient, wearable inertial human motion tracking system for rehabilitation applications, applicable to inertial measurement units (IMUs) consisting of tri-axis gyroscopes and accelerometers, and magnetic angular rate and gravity sensor arrays that also include tri- axis magnetometers.
Abstract: This paper presents a novel orientation algorithm designed to support a computationally efficient, wearable inertial human motion tracking system for rehabilitation applications. It is applicable to inertial measurement units (IMUs) consisting of tri-axis gyroscopes and accelerometers, and magnetic angular rate and gravity (MARG) sensor arrays that also include tri-axis magnetometers. The MARG implementation incorporates magnetic distortion compensation. The algorithm uses a quaternion representation, allowing accelerometer and magnetometer data to be used in an analytically derived and optimised gradient descent algorithm to compute the direction of the gyroscope measurement error as a quaternion derivative. Performance has been evaluated empirically using a commercially available orientation sensor and reference measurements of orientation obtained using an optical measurement system. Performance was also benchmarked against the propriety Kalman-based algorithm of orientation sensor. Results indicate the algorithm achieves levels of accuracy matching that of the Kalman based algorithm; < 0.8° static RMS error, < 1.7° dynamic RMS error. The implications of the low computational load and ability to operate at small sampling rates significantly reduces the hardware and power necessary for wearable inertial movement tracking, enabling the creation of lightweight, inexpensive systems capable of functioning for extended periods of time.
1,803 citations
"A novel guidance algorithm and comp..." refers methods in this paper
...Various sensor fusion algorithms such as complimentary filter, Madgwick-Mahony filter [11] [12] and Kalman filter were studied....
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18 Apr 2005
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
Abstract: The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS4 project in our lab.
1,010 citations
"A novel guidance algorithm and comp..." refers background or methods in this paper
...Other classes of controllers, PI-PID, backstepping [5] and conventional sliding mode control [6], were implemented on the test bench and compared....
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...In the relevant literature of quadcopter control, the main focus has been in the following areas: (a) Linear - PID, LQR [3] (b) Nonlinear - backstepping, sliding mode control [5], [7] (c) Optimal - NMPC [8] and (d) Intelligent - Fuzzy logic [9]....
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DOI•
01 Jan 2007
TL;DR: In this article, a mathematical model for simulation and control of a minibrobot is presented. And the methodology is subsequently applied to design an autonomous quadrotor named OS4, which has all the necessary sensors for autonomous operation.
Abstract: This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work. The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic coefficients and sensor and actuator models. Two platforms were developed during this thesis. The first one is a quadrotor-like test-bench with off-board data processing and power supply. It was used to safely and easily test control strategies. The second one, OS4, is a highly integrated quadrotor with on-board data processing and power supply. It has all the necessary sensors for autonomous operation. Five different controllers were developed. The first one, based on Lyapunov theory, was applied for attitude control. The second and the third controllers are based on PID and LQ techniques. These were compared for attitude control. The fourth and the fifth approaches use backstepping and sliding-mode concepts. They are applied to control attitude. Finally, backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers. This approach is validated through various flight experiments conducted on the OS4.
631 citations
"A novel guidance algorithm and comp..." refers background in this paper
...In the relevant literature of quadcopter control, the main focus has been in the following areas: (a) Linear - PID, LQR [3] (b) Nonlinear - backstepping, sliding mode control [5], [7] (c) Optimal - NMPC [8] and (d) Intelligent - Fuzzy logic [9]....
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29 Oct 2001
TL;DR: An extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (magnetic, angular rate, and gravity) sensors, which eliminates the long-standing problem of singularities associated with attitude estimation.
Abstract: Presents an extended Kalman filter for real-time estimation of rigid body orientation using the newly developed MARG (magnetic, angular rate, and gravity) sensors. Each MARG sensor contains a three-axis magnetometer, a three-axis angular rate sensor, and a three-axis accelerometer. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with attitude estimation. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are integrated to obtain quaternions. The Gauss-Newton iteration algorithm is utilized to find the best quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The best quaternion is used as part of the measurements for the Kalman filter. As a result of this approach, the measurement equations of the Kalman filter become linear, and the computational requirements are significantly reduced, making it possible to estimate orientation in real time. Extensive testing of the filter with synthetic data and actual sensor data proved it to be satisfactory. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track rotational motions.
563 citations
"A novel guidance algorithm and comp..." refers methods in this paper
...The attitude of the AV is estimated as mentioned in [13]....
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