Simple adaptive control of quadrotor attitude. Algorithms and experimental results
01 Jul 2017-pp 933-938
TL;DR: In the paper the simple adaptive control approach is employed to designing the adaptive controllers of quadrotor angular motion based on the Implicit Reference Model (IRM) design technique, and the “shunting method” (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics.
Abstract: In the paper the simple adaptive control approach is employed to designing the adaptive controllers of quadrotor angular motion. The adaptive controllers are synthesized based on the Implicit Reference Model (IRM) design technique. The “shunting method” (parallel feedforward compensation) is used to cope with the unmodelled plant dynamics. Analytical justification of system stability is made by employing the Passification method. Quality of the closed-loop IRM adaptive control system is studied and compared with that of the proportionalderivative (PD) non-adaptive control system experimentally on two degrees of freedom (2DOF) quadrotor testbed and in-flight tests of the QuadRoy quadrotor for nominal and parametrically perturbed cases.
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TL;DR: This survey gives a brief review of the fundamentals of the passification method, results of its applications in problems of adaptive and robust control, synchronization, control and estimation under communication constraints, and special attention to the method’s application for networking systems.
Abstract: Foundations for the passification method were laid out by A.L. Fradkov in 1974 in the context of the adaptive stabilization problem for the output of a linear dynamic plant. Over the past decade, the passification method has been further developed, and new applications have appeared both in the field of systems theory and in practical control problems. This survey is devoted to these new results. We give a brief review of the fundamentals of the passification method, results of its applications in problems of adaptive and robust control, synchronization, control and estimation under communication constraints. We pay special attention to the method’s application for networking systems. We also present some other applications of the passification method that do not fall into these categories.
19 citations
22 Feb 2018
TL;DR: This work provides a multi-agent extension of output-feedback model reference adaptive control (MRAC), designed to synchronize a network of heterogeneous uncertain agents, and shows that synchronization can be achieved.
Abstract: This work provides a multi-agent extension of output-feedback model reference adaptive control (MRAC), designed to synchronize a network of heterogeneous uncertain agents. The implementation of this scheme is based on multi-agent matching conditions. The practical advantage of the proposed MRAC is the possibility of handling the case of the unknown dynamics of the agents only by using the output and the control input of its neighbors. In addition, it is reasonable to consider the case when the communication topology is time-varying. In this work, the time-varying communication leads to a switching control structure that depends on the number of the predecessor of the agents. By using the switching control structure to handle the time-varying topologies, we show that synchronization can be achieved. The multi-agent adaptive switching controller is first analyzed, and numerical simulations based on formation control of simplifier quadcopter dynamics are provided.
8 citations
Cites methods from "Simple adaptive control of quadroto..."
...Numerical Simulation In line with [25,26], some simplified quadcopter dynamics are used as a numerical example....
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Posted Content•
12 Mar 2020
TL;DR: There exist admissible distributed observation and cooperative control strategies to ensure mean square bounded output tracking, provided the associated output regulation equations are solvable, by output regulation theory and stochastic analysis.
Abstract: We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are additive and multiplicative noises along with information exchange among agents. We propose a set of admissible distributed observation strategies for estimating the leader's and the followers' states, and a set of admissible cooperative output feedback control strategies based on the certainty equivalence principle. By output regulation theory and stochastic analysis, we show that for observable leader's dynamics and stabilizable and detectable followers' dynamics, if the intensity coefficient of multiplicative noises multiplied by the sum of real parts of the leader' s unstable modes is less than 1/4 of the minimum non-zero eigenvalue of graph Laplacian, then there exist admissible distributed observation and cooperative control strategies to ensure mean square bounded output tracking, provided the associated output regulation equations are solvable. Finally, the effectiveness of our control strategies is demonstrated by a numerical simulation.
8 citations
Cites background from "Simple adaptive control of quadroto..."
...From the equation (17) of [64], the dynamics of the leader quadcopter is given by (1), where A0 = ...
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01 Jul 2017
TL;DR: The paper is devoted to application of the novel 2DOF Quadrotor-based Laboratory Testbed for engineering education in the such the disciplines as Automatic Control, Adaptation and Identification, Real-time Control Systems, Data and Signal Processing, Telecommunications, Information Theory, Flight Dynamics, high- and low-level Programming Languages.
Abstract: The paper is devoted to application of the novel 2DOF Quadrotor-based Laboratory Testbed for engineering education in the such the disciplines as Automatic Control, Adaptation and Identification, Real-time Control Systems, Data and Signal Processing, Telecommunications, Information Theory, Flight Dynamics, high- and low-level Programming Languages. The testbed is based on a quadrotor, mounted in the gimbals. Testbed is aimed for debugging and pre-flight testing the quadrotor control algorithms, for scientific research and education. In the paper, construction of the Testbed is briefly described and the experience of its usage for engineering education in the ITMO University is outlined.
7 citations
Cites methods from "Simple adaptive control of quadroto..."
...In some cases the in-flight tests follow after the laboratory work with the Testbed, as shown in the accompanying papers [19], [36]....
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References
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Book•
01 Jun 2013
TL;DR: The sliding mode control and observation (SOMO) approach has proven to be effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics as discussed by the authors.
Abstract: The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications.The present volume addresses a range of sliding mode control issues, including:*Conventional sliding mode controller and observer design*Second-order sliding mode controllers and differentiators*Frequency domain analysis of conventional and second-order sliding mode controllers*Higher-order sliding mode controllers and differentiators*Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studiesSliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced coursetaught in control theory.
1,774 citations
"Simple adaptive control of quadroto..." refers methods in this paper
...For the case of scalar control input the following control law, inspired by [43], [44], may be used instead of (13):...
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TL;DR: In this paper, two types of nonlinear controllers for an autonomous quadrotor helicopter are presented: a feedback linearization controller and an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty.
Abstract: This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.
637 citations
"Simple adaptive control of quadroto..." refers background in this paper
...The authors of [7] represent two kinds of nonlinear controllers for...
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TL;DR: In this paper, the effects of unmodeled high frequency dynamics and bounded disturbances on stability and performance of adaptive control schemes are analyzed using simple examples, and a procedure is used to construct Lyapunov-like functions for a modified adaptive controller applied to a dominant plant of relative degree one, in the presence of parasitics and disturbances.
553 citations
TL;DR: A direct adaptive output feedback control design procedure is developed for highly uncertain nonlinear systems, that does not rely on state estimation, and extends the universal function approximation property of linearly parameterized neural networks to model unknown system dynamics from input/output data.
431 citations
TL;DR: The control approach described in this paper is robust since it explicitly deals with unmodeled state-dependent disturbances and forces without needing any prior knowledge of the same.
Abstract: The dynamics of a quadrotor are a simplified form of helicopter dynamics that exhibit the same basic problems of underactuation, strong coupling, multi-input/multi-output design, and unknown nonlinearities. Control design for the quadrotor is more tractable yet reveals corresponding approaches for helicopter and UAV control design. In this paper, a backstepping approach is used for quadrotor controller design. In contrast to most other approaches, we apply backstepping on the Lagrangian form of the dynamics, not the state space form. This is complicated by the fact that the Lagrangian form for the position dynamics is bilinear in the controls. We confront this problem by using an inverse kinematics solution akin to that used in robotics. In addition, two neural nets are introduced to estimate the aerodynamic components, one for aerodynamic forces and one for aerodynamic moments. The result is a controller of intuitively appealing structure having an outer kinematics loop for position control and an inner dynamics loop for attitude control. The control approach described in this paper is robust since it explicitly deals with unmodeled state-dependent disturbances and forces without needing any prior knowledge of the same. A simulation study validates the results obtained in the paper.
349 citations
"Simple adaptive control of quadroto..." refers methods in this paper
...A backstepping approach is used in [5] for quadrotor controller design....
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