Journal ArticleDOI
Nonlinear robust output feedback tracking control of a quadrotor UAV using quaternion representation
TLDR
In this paper, a quaternion-based nonlinear robust output feedback tracking controller is developed to address the attitude and altitude tracking problem of a quadrotor unmanned aerial vehicle which is subject to structural uncertainties and unknown external disturbances.Abstract:
In this paper, a new quaternion-based nonlinear robust output feedback tracking controller is developed to address the attitude and altitude tracking problem of a quadrotor unmanned aerial vehicle which is subject to structural uncertainties and unknown external disturbances By using the unit quaternion representation, the singularity associated with orientation representations can be avoided A set of non-model-based filters are introduced to provide estimations for the unmeasurable angular velocities and translational velocity in the altitude direction of the quadrotor in the case that velocity feedback is unavailable Approximation components based on neural network (NN) are introduced to estimate the modeling uncertainties, and robust feedback components are designed to compensate for external disturbances and NN reconstruction errors The Lyapunov-based stability analysis is employed to prove that a semiglobally asymptotic tracking result is achieved and all the closed-loop states remain bounded Numerical simulation results are provided to illustrate the good tracking performance of the proposed control methodologiesread more
Citations
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Journal ArticleDOI
Corrections to “Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities”
TL;DR: In this paper, an integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO) was developed.
Journal ArticleDOI
A Survey on Unmanned Aerial Vehicle Remote Control Using Brain–Computer Interface
TL;DR: This paper surveys the application of BCI in designing control modules for unmanned aerial vehicles (UAVs) by reviewing the primary trends in previous studies, and attempts to address the missing steps in current research and shed light on the road map for future innovation.
Journal ArticleDOI
Hybrid finite-time trajectory tracking control of a quadrotor.
TL;DR: Using the compounded control scheme, trajectory tracking errors can be stabilized rapidly and the proposed HFTC scheme has remarkably superior performance.
Journal ArticleDOI
Adaptive robust backstepping attitude control for a multi-rotor unmanned aerial vehicle with time-varying output constraints
TL;DR: An adaptive neural network backstepping dynamic surface control algorithm based on asymmetric time-varying Barrier Lyapunov Function is proposed for the attitude system of a novel MUAV under asymmetricTimeVarying output constraints, model uncertainties and external disturbances.
Journal ArticleDOI
Nonlinear Robust Fault-Tolerant Control of the Tilt Trirotor UAV Under Rear Servo's Stuck Fault: Theory and Experiments
TL;DR: This paper presents a fault-tolerant control strategy to deal with the rear servo's stuck fault together with unknown exogenous disturbances of a trirotor unmanned aerial vehicle and the contrast experimental results show that the proposed control scheme has achieved better control performance under the rear Servos' stuck fault.
References
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Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
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Spacecraft Attitude Dynamics
TL;DR: In this article, the effect of internal energy dissipation on the Directional Stability of Spinning Bodies was investigated in the context of gyroscope-based spin stabilization in Orbit and dual-stabilization in Orbit.
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Control of Robot Manipulators
TL;DR: Control of robot manipulators , Control of robot Manipulators , مرکز فناوری اطلاعات و £1,000,000; اوشاوρز رسانی, کسورزی;
Journal ArticleDOI
Semi-global nonlinear output regulation with adaptive internal model
TL;DR: This work presents a classical solution in terms of the parallel connection of a robust stabilizer and an internal model, where the latter is adaptively tuned to the device that reproduces the steady-state control necessary to maintain the output-zeroing condition.
Journal ArticleDOI
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.