Proceedings ArticleDOI
Quaternion-based trajectory tracking robust control for a quadrotor
Carlos A. Arellano-Muro,Bernardino Castillo-Toledo,Alexander G. Loukianov,Luis F. Luque-Vega,Luis E. González-Jiménez +4 more
- pp 386-391
TLDR
A sliding mode block control algorithm based on the super twisting algorithm using unit quaternion feedback is applied to the dynamic model of the quadrotor helicopter to ensure robustness against external disturbances and model uncertainties.Abstract:
This paper tackles the problem of trajectory tracking problem of a quadrotor. A sliding mode block control algorithm based on the super twisting algorithm using unit quaternion feedback is applied to the dynamic model of the quadrotor helicopter. The derivative of the virtual control inputs are obtained using exact first order differentiator, and the aerodynamic forces and moments acting on the quadrotor are estimated via a sliding mode observer to ensure robustness against external disturbances and model uncertainties. Moreover, a comparison of the computational complexity of the controller between the proposed control scheme and the one considering Euler angles is carried out. The stability proof showing the asymptotic stability of the proposed control scheme is presented. Simulations show the good performance of the proposed control scheme.read more
Citations
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Journal ArticleDOI
Nonlinear and Adaptive Intelligent Control Techniques for Quadrotor UAV – A Survey
Hongwei Mo,Ghulam Farid +1 more
TL;DR: In this paper, the authors infer adaptive nonlinear approaches to be used for flight control system in quadrotor configuration using parametric uncertainties and coupled nonlinear dynamics inherent in quadrobot configuration.
Journal ArticleDOI
Quadrotor Control Via Robust Generalized Dynamic Inversion and Adaptive Non-Singular Terminal Sliding Mode
TL;DR: In this paper, a robust two-loops structured control system design for quadrotor's position/attitude trajectory tracking is proposed, where the outer loop is designed to provide the roll/pitch tilting comman...
Journal ArticleDOI
Quaternion-based nonlinear attitude control of quadrotor formations carrying a slung load
Segun Ariyibi,Ozan Tekinalp +1 more
TL;DR: Simulation results are presented to show the efficacy of the control algorithm to keep the two quadrotors flying in a fixed geometrical formation in spite of the unmodelled disturbance dynamics of both the rigid bars, flexible bars and the load.
Journal ArticleDOI
Development and experimental investigation of a Quadrotor’s robust generalized dynamic inversion control system
TL;DR: Experimental results demonstrate improved tracking performance in comparison with classical Linear-Quadratic optimal control and conventional sliding mode control.
Journal ArticleDOI
Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions
Maria-Eusebia Guerrero-Sanchez,Hernan Abaunza,Pedro Castillo,Rogelio Lozano,C.D. García-Beltrán,Alejandro Rodriguez-Palacios +5 more
TL;DR: In this paper, the development and practical implementation of a Passivity-Based Control (PBC) algorithm to stabilize an UAV described with unit quaternions is presented, where a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced.
References
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TL;DR: The introduction of a Lyapunov function allows not only to study more deeply the known properties of finite time convergence and robustness to strong perturbations, but also to improve the performance by adding linear correction terms to the algorithm.
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