Journal ArticleDOI
Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking
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TLDR
A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced, and better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.Abstract:
A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given Gains are selected so that the three tested controllers present the same energy consumption In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators Specifically, the disturbance consists in attenuating the force delivered Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithmread more
Citations
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Journal ArticleDOI
Robust adaptive backstepping fast terminal sliding mode controller for uncertain quadrotor UAV
Moussa Labbadi,Mohamed Cherkaoui +1 more
TL;DR: A complete mathematical model of a quadrotor UAV is presented based on the Euler-Newton formulation and a robust nonlinear fast control structured for thequadrotor position and attitude trajectory tracking is designed.
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.
Journal ArticleDOI
Robust PID control of quadrotors with power reduction analysis.
TL;DR: It is proven that the power demanded by any controller is reduced when using the power reduction methodology, and the superiority of the proposed scheme as well as its robustness against different types of perturbations is demonstrated.
Journal ArticleDOI
Composite Disturbance Rejection Attitude Control for Quadrotor With Unknown Disturbance
TL;DR: A composite disturbance rejection control method is proposed for attitude control of Quadrotor using an inner–outer loop control framework, which can effectively improve the angular tracking performance of the quadrotor and achieve the active disturbance rejection.
Journal ArticleDOI
Sliding Mode Dual-Channel Disturbance Rejection Attitude Control for a Quadrotor
TL;DR: In this paper , a sliding mode dual-channel disturbance rejection control based on an extended state observer is proposed for the attitude control of a quadrotor under unknown disturbances, and the stability of the system is proved by using the Lyapunov theory.
References
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Journal ArticleDOI
Impact Time and Angle Guidance With Sliding Mode Control
TL;DR: A novel sliding mode-based impact time and angle guidance law for engaging a modern warfare ship is presented and can be applied to many realistic engagement scenarios which include uncertainties such as target motion.
Journal ArticleDOI
Dynamic sliding PID control for tracking of robot manipulators: theory and experiments
TL;DR: A simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed.
Journal ArticleDOI
Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control
TL;DR: This paper determines stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize helicopters and quadrotors under Proportional-Integral-Derivative flight control.
Journal ArticleDOI
Nonlinear Control of Quadrotor for Point Tracking: Actual Implementation and Experimental Tests
Young-Cheol Choi,Hyo-Sung Ahn +1 more
TL;DR: In this paper, a nonlinear control scheme along with its simulation and experimental results for a quadrotor is presented, where a backstepping-like feedback linearization method is used to control and stabilize the quadrotors.
Journal ArticleDOI
Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed
Youmin Zhang,Abbas Chamseddine,Camille Alain Rabbath,Brandon W. Gordon,Chun-Yi Su,Subhash Rakheja,Cameron Fulford,Jacob Apkarian,Pierre Gosselin +8 more
TL;DR: An overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems and techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are presented.