Journal ArticleDOI
Constrained Robust Model Reference Adaptive Control of a Tilt-Rotor Quadcopter Pulling an Unmodeled Cart
TLDR
This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads that employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads.Abstract:
This article presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads. This control architecture leverages on a thorough analysis of the aircraft's equation of motion, which reveals gyroscopic effects that were not fully characterized and were disregarded while synthesizing control algorithms in prior publications. Furthermore, the proposed control architecture employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Flight tests involving a quadcopter pulling an unmodeled cart by means of a thin rope of unknown length, which is slack at the beginning of the mission, verify the effectiveness of the theoretical results.read more
Citations
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Journal ArticleDOI
Simultaneous trajectory tracking and aerial manipulation using a multi-stage model predictive control
TL;DR: This is the first study to perform simultaneous trajectory tracking and aerial grasping tasks while ensuring closed-loop stability in the presence of operational constraints, and the results demonstrate the satisfactory performance of the proposed control scheme for robust trajectory Tracking and aerial manipulation missions at an acceptable computational cost.
Journal ArticleDOI
Gait Analysis for A Tilt-rotor: The Dynamic Invertible Gait
Zhen Y. Shen,Takeshi Tsuchiya +1 more
TL;DR: This research explores the invertible gait for the tiltrotor and applies the feedback linearization to stabilize the attitude and the altitude and introduces the novel concept "UAV gait" to restrict the tilting angles.
Journal ArticleDOI
A survey of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems
TL;DR: In this article, the authors present a holistic perspective on the state-of-the-art in the design of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems (sUAS).
Journal ArticleDOI
Model Reference Adaptive Iterative Learning Speed Control for Ultrasonic Motor
Shi Jingzhuo,Wenwen Huang +1 more
TL;DR: In the design process of the controller, the adaptive gain of model reference adaptive control (MRAC) often requires a tradeoff between the adaptive ability, robustness and stability of the control system, which leads to poor control performance and increase design difficulty.
Journal ArticleDOI
Unmanned Aerial Transportation System With Flexible Connection Between the Quadrotor and the Payload: Modeling, Controller Design, and Experimental Validation
TL;DR: In this article , a nonlinear control approach is presented by energy-based analysis, which achieves simultaneous quadrotor positioning, payload swing elimination and hoisting/lowering independent of the UAV's altitude.
References
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Convex Optimization
Stephen Boyd,Lieven Vandenberghe +1 more
TL;DR: In this article, the focus is on recognizing convex optimization problems and then finding the most appropriate technique for solving them, and a comprehensive introduction to the subject is given. But the focus of this book is not on the optimization problem itself, but on the problem of finding the appropriate technique to solve it.
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Nonlinear Dynamical Systems and Control: A Lyapunov-Based Approach
TL;DR: The aim of this book is to provide a Discussion of the Foundations of Discrete-Time Optimal Nonlinear Feedback Control and its Applications in Dynamical Systems and Differential Equations, as well as some suggestions for further study.
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A new adaptive law for robust adaptation without persistent excitation
TL;DR: In this paper, a new adaptive law motivated by the work of Loannou and Kokotovic (1983) is proposed for the robust adaptive control of plants with unknown parameters.
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Robust and Adaptive Control: With Aerospace Applications
Eugene Lavretsky,Kevin A. Wise +1 more
TL;DR: In this article, the authors discuss robust and optimal control of linear systems in UAVs using Lyapunov stability theory and a model reference adaptive control architecture for direct and indirect MRAC systems.