Robust Adaptive Attitude Tracking on ${\rm SO}(3)$ With an Application to a Quadrotor UAV
01 Sep 2013-IEEE Transactions on Control Systems and Technology (IEEE)-Vol. 21, Iss: 5, pp 1924-1930
TL;DR: This brief describes robust adaptive tracking control systems for the attitude dynamics of a rigid body that can asymptotically follow an attitude command without the knowledge of the inertia matrix and is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances.
Abstract: This brief describes robust adaptive tracking control systems for the attitude dynamics of a rigid body. Both the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and ambiguities associated with other attitude representations, such as Euler angles or quaternions. By designing an adaptive law for the inertia matrix of a rigid body, the proposed control system can asymptotically follow an attitude command without the knowledge of the inertia matrix, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. These are illustrated by the experimental results of the attitude dynamics of a quadrotor unmanned aerial vehicle.
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TL;DR: This study gives the mathematic model of a quadrotor unmanned aerial vehicle (UAV) and then proposes a robust nonlinear controller which combines the sliding-mode control technique and the backstepping control technique, which is designed to achieve Cartesian position trajectory tracking capability.
Abstract: This study gives the mathematic model of a quadrotor unmanned aerial vehicle (UAV) and then proposes a robust nonlinear controller which combines the sliding-mode control technique and the backstepping control technique. To achieve Cartesian position trajectory tracking capability, the construction of the controller can be divided into two stages: a regular SMC controller for attitude subsystem (inner loop) is first developed to guarantee fast convergence rapidity of Euler angles and the backstepping technique is applied to the position loop until desired attitudes are obtained and then the ultimate control laws. The stability of the closed-loop system is guaranteed by stabilizing each of the subsystems step by step and the robustness of the controller against model uncertainty and external disturbances is investigated. In addition, an adaptive observer-based fault estimation scheme is also considered for taking off mode. Simulations are conducted to demonstrate the effectiveness of the designed robust nonlinear controller and the fault estimation scheme.
501 citations
Cites background from "Robust Adaptive Attitude Tracking o..."
...Fault-tolerant control and robust control methods are also becoming much more popular for fault tolerance and robustness against disturbances, respectively [20], [27]–[31]....
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TL;DR: A design technique of adaptive sliding mode control for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties is offered and simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
Abstract: Adaptive control methods are developed for stability and tracking control of flight systems in the presence of parametric uncertainties. This paper offers a design technique of adaptive sliding mode control (ASMC) for finite-time stabilization of unmanned aerial vehicle (UAV) systems with parametric uncertainties. Applying the Lyapunov stability concept and finite-time convergence idea, the recommended control method guarantees that the states of the quad-rotor UAV are converged to the origin with a finite-time convergence rate. Furthermore, an adaptive-tuning scheme is advised to guesstimate the unknown parameters of the quad-rotor UAV at any moment. Finally, simulation results are presented to exhibit the helpfulness of the offered technique compared to the previous methods.
255 citations
TL;DR: A multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrator systems subject to matched disturbances and a discontinuous integral term is incorporated in the control law in order to compensate the disturbances.
Abstract: The attitude control of quadrotor unmanned aerial vehicle (UAV) is investigated. The aim of this paper is to develop a continuous multivariable attitude control law, which drives the attitude tracking errors of quadrotor UAV to zero in finite time. First, a multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrator systems subject to matched disturbances. A discontinuous integral term is incorporated in the control law in order to compensate the disturbances. A rigorous proof of the finite time stability of the close-loop system is derived by utilizing the Lyapunov method and the homogeneous technique. Then, the implementation of the developed method in an indoor quadrotor UAV is performed. The remarkable features of the developed algorithm includes the finite time convergence, the chattering suppression and the nominal performance recovery. Finally, the efficiency of the proposed method is illustrated by numerical simulations and experimental verification.
205 citations
Cites background from "Robust Adaptive Attitude Tracking o..."
...In addition, the dynamic inversion control [11], model predictive control [12], singular perturbation theory [13], and adaptive control [14] were widely investigated in flight control for quadrotor UAV subject to uncertainties and external disturbances....
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TL;DR: A model-free–based terminal sliding-mode control strategy to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties, and external disturbances is developed.
Abstract: In this paper, a model-free–based terminal sliding-mode control (MFTSMC) strategy is developed to control the attitude and position of a quadrotor whose model includes parameter variations, uncertainties, and external disturbances. The proposed MFTSMC combines a model-free control approach with a sliding-mode technique and makes possible to eliminate the tracking error in a finite time. To demonstrate the performance and effectiveness of the proposed MFTSMC, numerical simulation results have been obtained and compared with corresponding results for PID, backstepping and sliding-mode controls.
168 citations
TL;DR: In this article, a novel nonlinear resilient trajectory control for a quadrotor unmanned aerial vehicle (UAV) using backstepping control and nonlinear disturbance observer is proposed.
Abstract: This study proposes a novel nonlinear resilient trajectory control for a quadrotor unmanned aerial vehicle (UAV) using backstepping control and nonlinear disturbance observer. First, a nonlinear dynamic model for the quadrotor UAV that considers external disturbances from wind model uncertainties is developed. A nonlinear disturbance observer is then constructed separately from the controller to estimate the external disturbances and compensate for the negative effects of the disturbances. Based on the estimates from the given observer, a nominal nonlinear backstepping trajectory-tracking position controller is designed to stabilize the subsystems step by step until the ultimate control law is obtained. An extra term is added to the nominal controller to address the problem of actuator effectiveness loss and to ensure system resilience. The stability of the resilient controller is analyzed using Lyapunov stability theory. Simulation results are presented to demonstrate the effectiveness and robustness of the proposed nonlinear resilient controller.
164 citations
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Abstract: Introduction Rotational Kinematics Attitude Motion Equations Attitude Dynamics of a Rigid Body Effect of Internal Energy Dissipation on the Directional Stability of Spinning Bodies Directional Stability of Multispin Vehicles Effect of Internal Energy Dissipation on the Directional Stability of Gyrostats Spacecraft Torques Gravitational Stabilization Spin Stabilization in Orbit Dual-Stabilization in Orbit: Gyrostats and Bias Momentum Satellites Appendixes References Index.
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"Robust Adaptive Attitude Tracking o..." refers background in this paper
...THE ATTITUDE dynamics of a rigid body appear in various engineering applications, such as aerial and underwater vehicles, robotics, and spacecraft (see [1]–[3])....
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...Geometric control is concerned with the development of control systems for dynamic systems evolving on nonlinear manifolds that cannot be globally identified with Euclidean spaces [11]–[13]....
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TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Abstract: A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework. >
1,000 citations
"Robust Adaptive Attitude Tracking o..." refers background in this paper
...THE ATTITUDE dynamics of a rigid body appear in various engineering applications, such as aerial and underwater vehicles, robotics, and spacecraft (see [1]–[3])....
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