Proceedings ArticleDOI
Experimental study on robust output control for quadcopters
Stanislav Tomashevich,Oleg I. Borisov,Vladislav S. Gromov,Anton A. Pyrkin,Alexey A. Bobtsov +4 more
- pp 1029-1034
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Experimental applied study on advanced quadcopter control using a special setup to conduct a series of experiments of roll and pitch motion control with robust output controllers.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.read more
Citations
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New Results on the Application of the Passification Method. A Survey
TL;DR: This survey gives a brief review of the fundamentals of the passification method, results of its applications in problems of adaptive and robust control, synchronization, control and estimation under communication constraints, and special attention to the method’s application for networking systems.
Proceedings ArticleDOI
Output Robust Control of Input-Saturated Plants with Anti-Windup Compensation
Oleg I. Borisov,Vladislav S. Gromov,Anton A. Pyrkin,Sergey V. Shavetov,Mikhail A. Kakanov,Mikhail I. Kaliuzhny +5 more
TL;DR: The proposed approach is based on the high-gain control principle augmented with the integral loop and anti-windup compensation scheme, and it is shown that output robust control for SISO systems with input saturation is addressed.
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Improved adaptive coding procedure for transferring the navigation data between UAVs in formation
TL;DR: It is shown by the simulations, and confirmed by the testbed experiments, that the habitual adaptive coding procedure has lower accuracy, which can have a critical meaning for UAV's formation control.
Journal ArticleDOI
Robust High-Gain Generalization of PID Controllers with Anti-Windup Compensation
Oleg I. Borisov,Stanislav Tomashevich,Stanislav Tomashevich,Vladislav S. Gromov,Mikhail A. Kakanov,Anton A. Pyrkin,Alexey A. Bobtsov,Alexey A. Bobtsov +7 more
TL;DR: The consecutive compensator approach is redesigned in the state-space representation and augmented with the integral loop and anti-windup scheme and the stability of the closed-loop system is proved.
Proceedings ArticleDOI
Adaptive Nonlinear Tracking Approach for Motion Tracking Applications
TL;DR: In this article, the problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed, and the control law for a nonlinear trajectory is proposed with the design of an adaptive internal model.
References
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Proceedings ArticleDOI
Control of a quadrotor helicopter using visual feedback
TL;DR: Control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor are presented, and initial flight experiments are presented where the helicopter is restricted to vertical and yaw motions.
Proceedings ArticleDOI
Disturbance accomodation control for wind rejection of a quadcopter
TL;DR: In this article, a disturbance accommodating controller (DAC) and a nonlinear feed-forward controller were used to reject wind disturbances of a UAV. But, the DAC controller was found to be affected by changes in wind speed due to its linear nature, and the performance of the DAC and nonlinear controllers was evaluated in simulation against the unmodified baseline.
Proceedings ArticleDOI
Output controller for quadcopters with wind disturbance cancellation
Anton A. Pyrkin,Alexey A. Bobtsov,Sergey A. Kolyubin,Oleg I. Borisov,Vladislav S. Gromov,Stanislav Aranovskiy +5 more
TL;DR: A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate proposed adaptive control approach based on the high-gain principle, so-called, “consecutive compensator”, which also allows to cancel unknown wind disturbances changing their values and directions negligibly slowly.
Proceedings ArticleDOI
Output controller for quadcopters based on mathematical model decomposition
TL;DR: An output control approach for a class of nonlinear MIMO systems is presented and a multicopter with four symmetrical rotors is chosen to illustrate effectiveness of the proposed adaptive control approach based on the high-gain principle so-called “consecutive compensator”.
Proceedings ArticleDOI
Experimental validation of a quaternion-based attitude estimation with direct input to a quadcopter control system
TL;DR: In this article, the attitude quaternion of a quadcopter is calculated using the shortest rotation arc from the gravity vector in the navigation frame, and the attitude estimation is directly used as an input to the attitude controller.