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This paper presents a control law that can counter both random disturbance and inertia matrix perturbation in quadrotor attitude stabilization. The control law consists of an ordinary proportional-derivative control and a disturbance compensation. The disturbance compensation is designed by creating a virtual force that always attracts the quadrotor’s state variables back to the equilibrium point...
Disturbance compensation is a challenging problem in quadrotor control. Some approaches to handle disturbance are wind effect modelling and taking upper bound of disturbance into account. This paper presents proportional-derivative control on SO(3) with disturbance compensation for quadrotor UAV. Quadrotor nonlinear kinematics and dynamics model in SO(3) are used to design the control law. Disturbance...
Systematic LQR tuning is necessary to improve trial-and-error method that is usually used in LQR tuning. This paper presents LQR tuning with SPSA applied on quadrotor control. SPSA is chosen because it is a powerful algorithm for multivariate stochastic optimization and can be easily implemented. Numerical simulation shows that LQR tuning with SPSA can yield good quadrotor control performance. However,...
In this paper we propose a Proportional controller plus switching constant for robot manipulator. Using a simple change of variable, we modify the original robot equation into an equation for which a Lyapunov Function can be constructed. The derivative of the Lyapunov Function alongside the dynamic of robot manipulator using the proposed controller is guaranteed to be asymptotically stable under some...
Current sensor is an important part of Battery Management System (BMS). Current information of a battery is very important to estimate the value of State of Charge (SOC) as a component of fault detection. Fault detection is very important to implement in BMS because of its function to protect battery from damage caused by over discharge and overcharge. The issue here is expensive current sensors....
In this paper, the potential field principle is applied to several UAVs (Unmanned Aerial Vehicles) for optimal path planning. Each UAV has its own goals and it is used the attractive potential field to reach the goals. On the contrary, each UAV is considered as obstacle for other UAVs that must be avoided. In this research, there are two types of obstacles, i.e the static and dynamic. The repulsive...
In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using sim-ulink blocks. The controller is simulated to shows the ability...
A novel PD Loop-Shaping strategy to achieve stable and robust Quadrotor control system is proposed in this paper. In order to be able to follow of the scenerio, the developed nonlinear model has to be linearized. By choosing the proper forward loop using loop shaping strategy, a PD auto-tuner is designed. The effectiveness of the scheme is then verified using numerical simulation.
In this paper, a selection of gains to make the systems robust to uncertainty in the delayed plant is proposed. In this work, we remove many assumptions that had been made for so many years in many works. Here the uncertainty can be assumed as natural as possible, i.e., the uncertainty can be treated without assumption of constant bound nor bound as function of the states. It is also shown that using...
This paper deals with the study of micro manipulation system that is composed of piezoelectric actuator attached on flexure hinge mechanism. It has been the fact that hysteresis is inherent in any piezoelectric actuators, especially when using voltage steering which in turn can degrade the performance of the system thus it should be treated carefully. In this paper, a simple Dahl model is constructed...
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