Journal ArticleDOI
Introduction to feedback control of underactuated VTOLvehicles: A review of basic control design ideas and principles
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TLDR
In this article, a review of feedback control design for a family of robotic aerial vehicles with vertical take-off and landing (VTOL) capabilities such as quadrotors, ducted-fan tail-sitters, and helicopters is presented.Abstract:
This article is an introduction to feedback control design for a family of robotic aerial vehicles with vertical take-off and landing (VTOL) capabilities such as quadrotors, ducted-fan tail-sitters, and helicopters. Potential applications for such devices, like surveillance, monitoring, or mapping, are varied and numerous. For these applications to emerge, motion control algorithms that guarantee a good amount of robustness against state measurement/ estimation errors and unmodeled dynamics like, for example, aerodynamic perturbations, are needed. The feedback control methods considered here range from basic linear control schemes to more elaborate nonlinear control solutions. The modeling of the dynamics of these systems is first recalled and discussed. Then several control algorithms are presented and commented upon in relation to implementation issues and various operating modes encountered in practice, from teleoperated to fully autonomous flight. Particular attention is paid to the incorporation of integral-like control actions, often overlooked in nonlinear control studies despite their practical importance to render the control performance more robust with respect to unmodeled or poorly estimated additive perturbations.read more
Citations
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Journal ArticleDOI
Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles
TL;DR: A robust higher-order-observer-based dynamic sliding mode controller (HOB-DSMC) is developed and optimized using the fractional-order firefly algorithm (FOFA) to investigate the precise trajectory tracking of unmanned aerial vehicles (UAV) subjected to external disturbances.
Proceedings ArticleDOI
Mass estimation of a quadcopter using IMU data
TL;DR: A lateral dynamic model describing the relation between the roll rate and the lateral acceleration is formulated and it is shown that the instrumental-variable method has the best potential to estimate the mass of the quadcopter in this setup.
Posted Content
Control of VTOL Vehicles with Thrust-direction Tilting
TL;DR: An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed via the formalism of primary and secondary objectives and by extending a solution previously derived in the fixed thrust- direction case.
Journal ArticleDOI
A Novel Adaptive Super-Twisting Sliding Mode Control Scheme with Time-Delay Estimation for a Single Ducted-Fan Unmanned Aerial Vehicle
TL;DR: This article proposes a novel adaptive super-twisting sliding mode control scheme with a time-delay estimation technique (ASTSMC-TDE) to control the yaw angle of a single ducted-fan unmanned aerial vehicle system.
Journal ArticleDOI
Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs
TL;DR: In this paper , the output and stateconsensus problems for multiagent high-order systems in feedback form are solved and a control framework and a formal analysis that establishes robust stability in the input-to-state sense are presented.
References
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Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: An observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online.
Proceedings ArticleDOI
PID vs LQ control techniques applied to an indoor micro quadrotor
TL;DR: The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Journal ArticleDOI
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Proceedings ArticleDOI
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Proceedings ArticleDOI
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
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.