Energy based 3D trajectory tracking control of quadrotors with model-free based on-line disturbance compensation
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TLDR
Using the proposed formulation, it is shown that the performance of the control can be significantly improved through the reshaping properties of the IDA-PBC technique and the control robustness level is increased via a compensation of the time-varying disturbances and the unmodeled system dynamics.About:
This article is published in Chinese Journal of Aeronautics.The article was published on 2018-07-01 and is currently open access. It has received 7 citations till now. The article focuses on the topics: Robust control.read more
Citations
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Journal ArticleDOI
Robust adaptive nonsingular fast terminal sliding-mode tracking control for an uncertain quadrotor UAV subjected to disturbances
Moussa Labbadi,Mohamed Cherkaoui +1 more
TL;DR: 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 and shows clearly the outperformance of the proposed control scheme.
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Position and attitude control of multi-rotor aerial vehicles: A survey
Tiago P. Nascimento,Martin Saska +1 more
TL;DR: A review of recent developments in position control and attitude control of multi-rotor aerial robots systems is presented, and links to the most interesting and most successful works from the state-of-the-art are provided.
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Optimize Energy Efficiency of Quadrotors Via Arm Rotation
Hao Xiong,Jin Hu,Xiumin Diao +2 more
TL;DR: An arm-rotation approach is proposed to optimize the energy efficiency of a quadrotor with a center-of-gravity offset in steady hovering by rotating its arms to proper positions calculated based on the dynamics model of the quad rotor and the power–thrust curve of rotors.
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Boosting a Reference Model-Based Controller Using Active Disturbance Rejection Principle for 3D Trajectory Tracking of Quadrotors: Experimental Validation
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.
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Adaptive fuzzy model-free control for 3D trajectory tracking of quadrotor
TL;DR: In this article, a novel adaptive control strategy with rejection ability for unmanned aerial vehicles (UAVs), namely fuzzy model-free control (FMFC), is presented, where the control parameters are tuned online using fuzzy logic.
References
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Book
L2-Gain and Passivity Techniques in Nonlinear Control
TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.
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Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems
TL;DR: In this paper, it was shown that weakly minimum phase nonlinear systems with relative degree one can be globally asymptotically stabilized by smooth state feedback, provided that suitable controllability-like rank conditions are satisfied.
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Putting energy back in control
TL;DR: In this article, the authors show that standard PBC is stymied by the presence of unbounded energy dissipation, hence it is applicable only to systems that are stabilizable with passive controllers.
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Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
TL;DR: This work describes a class of systems for which IDA-PBC yields a smooth asymptotically stabilizing controller with a guaranteed domain of attraction, given in terms of solvability of certain partial differential equations.
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Output Feedback Control of a Quadrotor UAV Using Neural Networks
TL;DR: It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle.