Finite-Time Control of a Quadrotor System
TL;DR: In this paper, the authors deal with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form.
Abstract: This paper deals with the finite-time control of a quadrotor unmanned aerial vehicle about the hovering position by converting the linearized model to its Brunovský canonical form. It is shown that all the sliding surfaces have relative degree five or three. Simulations are carried out using higher order continuous finite time controllers.
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01 Jun 2017
TL;DR: In this article, the authors proposed a robust output regulation for a set of quad-rotors forming a geometric pattern, which is composed of cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding quad-Rotors positions.
Abstract: This paper deals with the problem of robust output regulation for a set of Quad-Rotors forming a geometric pattern. The proposed control strategy is based on sliding- modes techniques, and it is able to robustly regulate the corresponding Quad-Rotors positions and angles in the presence of some class of disturbances acting on the Quad-Rotors. The proposed regulation is composed by cascaded continuous sliding-modes controllers providing uniform finite-time stability and uniform exponential stability for the corresponding Quad-Rotors positions. Simulation results illustrate the feasibility of the proposed strategy.
4 citations
Cites methods from "Finite-Time Control of a Quadrotor ..."
...Taking into account the QuadRotor model linearization, in [15] a finite-time controller is designed to stabilize the origin of this system....
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09 Jul 2018
TL;DR: The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors and is composed of cascaded continuous sliding-modes controllers (SMCs).
Abstract: In this paper the problem of motion coordination for a multi-agent system composed of a group of Quad-Rotors, under the leader-follower scheme, is addressed The proposed control strategy is considered as a decentralized scheme and is composed of cascaded continuous sliding-modes controllers (SMCs) By means of this approach, the Quad-Rotors are able to robustly form a geometric pattern in order to track a desired trajectory despite the presence of bounded unknown inputs The proposed control strategy provides uniform finite-time stability and uniform exponential stability for the corresponding tracking and formation errors Numerical simulations illustrate the performance of the proposed control strategy
1 citations
Cites background or methods from "Finite-Time Control of a Quadrotor ..."
...For a complete model of the QuadRotor, the reader is referred to [8], [19], [23] and [25]....
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...Taking into account a Quad-Rotor model linearization, in [23] a finitetime controller is designed to stabilize the origin of this system....
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...From this point of view, works that have applied the finite-time convergence features to control a Quad-Rotor, can be found in [2], [8], [14] and [23]....
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...Recall that [2], [8], [14] and [23] only considers the control of a single Quad-Rotor....
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References
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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.
970 citations
TL;DR: In this paper, finite-time control problem of a class of controllable systems is considered and explicit formulae are proposed for the finite time stabilization of a chain of power-integrators, and discussions about a generalized class of nonlinear systems are given.
Abstract: In this paper, finite-time control problem of a class of controllable systems is considered. Explicit formulae are proposed for the finite-time stabilization of a chain of power-integrators, and then discussions about a generalized class of nonlinear systems are given.
527 citations
Journal Article•
523 citations
TL;DR: In this article, a new approach to control synthesis for robust robot operations in unstructured environments is presented, where the notion of terminal convergence is introduced and control laws based upon a new class of sliding modes, denoted terminal sliders, are developed.
Abstract: Many robotic systems would, in the future, be required to operate in environments that are highly unstructured and active, i.e., possessing means of self-actuation. Although a significant volume of results exist in model-based, robust and adaptive control literature, general issues pertinent to the performance of such control systems remain unresolved, e.g., feasibility of implementing high gain switches for control robustness. It is also pointed out that in certain applications, control switching can be very detrimental to the overall system. The primary focus of this paper is development of a new approach to control synthesis for robust robot operations in unstructured environments. To enhance control performance with full model information, we introduce the notion of terminal convergence, and develop control laws based upon a new class of sliding modes, denoted terminal sliders
157 citations
01 Dec 2010
TL;DR: A method to measure translational speed as well as the UAV 3D position in a local frame and the performance of three control techniques: Nested Saturations, Backstepping and Sliding Modes is presented.
Abstract: In this paper, we present a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes. The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor when using visual feedback. We propose a method to measure translational speed as well as the UAV 3D position in a local frame. The selected controllers were implemented and tested in real-time experiments. The obtained results demonstrate the performance of such methodologies applied to the quad-rotor system.
51 citations
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