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Control algorithms are essential in multirotor aerial platforms and remain a trending research topic. This paper presents the development process of different cascade controllers for multirotor UAVs. Two main usage areas of this method are described — the control of position and attitude. Based on the literature and experience from previous research, structures of mentioned algorithms are proposed...
Nonlinear dynamic inversion (NDI) has been applied to the control law design of UAVs for many years mainly due to its good robustness. However, it has a weakness of relying on accurate model of the plant greatly, which restrains its application since UAVs are easy to be influenced by persistent disturbances such as model uncertainties, winds and gusts; thus, development of accurate model for attitude...
In this paper, the problem of adaptive fixed-time 6 degree-of-freedom (DOF) tracking control for spacecraft non-cooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface (MFSMS) is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions...
Attitude control is essential for spacecraft to accomplish various tasks, and the attitude tracking is one of the most important attitude control tasks. In this paper the attitude tracking of a rigid spacecraft with bounded input is examined. At the same time, the unknown external disturbances are finite, but their boundaries are unknown. In order to make sure the attitude tracking errors converge...
Considering that the hypersonic vehicle is fast time-varying, high nonlinear and strong coupled, which makes designing a well performed controller rather difficult, this paper proposes an attitude control method based on exact feedback linearization control and characteristic model adaptive control to ensure the stability of the control system. Firstly, a nonlinear coupled dynamic model for the hypersonic...
This paper proposes a robust adaptive Backstepping controller for the quadrotor attitude dynamics. The attitude dynamic model is obtained to translate into a MIMO nonlinear system with generalized uncertainty. To overcome complex disturbances from various uncertainties, we design a strict feedback controller for the system. It's used to counteract the influence of the uncertainties by robust adaptive...
The attitude control for reusable launch vehicles (RLV) is responsible for the robust operation to avoid the major deterioration from uncertainties of parameters and external disturbances in the reentry phase. Targeting for these practical issues with the study of the feedback-linearized RLV rotational equations of motion, two global sliding mode control (SMC) strategies are proposed with modified...
In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results...
The attitude tracking control problem of reusable launch vehicle (RLV) in reentry phase is investigated in this paper. The control-oriented model is firstly developed from the attitude model, and it is decomposed into two subsystems on the basis of the engineering backgrounds of RLV. Via backstepping design procedure, sliding mode control scheme is designed while the lumped uncertainty is estimated...
This paper designs a robust cascade PID attitude controller for the quadrotor helicopter. Firstly, based on the near-hover dynamic model of quadrotor helicopters, dual loop cascade PID attitude controllers are designed with angular rate feedback as the inner loop and attitude angle feedback as the outer loop. Then robust compensators are added to reject the effect of external wind disturbance and...
Keep at hover an aerial vehicle is one of the most important task to realize when working on UAVs. Once this task is solved, the user can easily give high-orders to move the vehicle. In this paper, a nonlinear super-twisting algorithm to stabilize the nonlinear attitude of a quadcopter is presented. The controller is based on the Singular Optimal Control (SOC) and the Lyapunov theory with the sliding...
This paper considers a nonsingular terminal sliding mode control problem for the attitude tracking of a quadrotor. To solve the chattering problem of sliding mode control, a novel terminal sliding mode controller based on a second-order sliding mode algorithm known as super-twisting algorithm is proposed. With the help of the proposed terminal sliding mode controller, the pitch, roll and yaw angles...
This paper concentrates on attitude control and position control of the hex-rotor Unmanned Aerial Vehicle (UAV) to achieve fixed-point hover. First, based on the Newton-Euler equations, the equations of motion are established in the inertial coordinate system. Then according to the characteristics of the hex-rotor UAV model, adaptive backstepping mode controllers are designed to realize the attitude...
In this paper, the design of the UAV attitude control loop of the small high speed UAV is carried out under the external disturbance in the complex flight environment and the unmodeled characteristics of the aircraft itself. First, in order to suppress the external disturbance and model uncertainty, Utilizing the angular kinetic motion model of the angular velocity, robust servo LQR linear controller...
In this paper, the robust quadrotor attitude regulation based on fault tolerant control schema is investigated. The hover stability is heavily dependent on the thrust forces generated by the four rotors of the quadrotor. Once the rotors are in fault and loss the efficiency, the quadrotor will be unstable, even out of control. To the end, this paper presents a robust fault tolerant control schema for...
In this paper, a modified PI-D controller with pulse width pulse frequency (PWPF) modulator with on-off thruster for a rigid satellite is tuned under uncertainties in a quasi- normalized form. A modified proportional-integral-derivative (PID) based on observer method is used as a controller. Uncertainty is considered on thruster model, thrust level, and external disturbance parameters. Thruster is...
The ducted fan unmanned air vehicle (UAV) is a vertical take-off and landing flying robot. The dynamics model is built in this work. An attitude controller is designed based on the robust servomechanism linear quadratic regulator. Sweeping the penalty function weight coefficient provides an optimized controller. Simulation results show that the closed system performs excellently in terms of the time...
This paper presents the robustified form of generalized dynamic inversion control and its application to attitude control for satellite launch vehicle. In proposed control law, dynamic constraint is prescribed in the form of asymptotically stable differential equation that encapsulate the control objectives. The constraint differential equation is evaluated along the vehicle's attitude trajectories...
In this paper a robust PID controller for quadrotor unmanned aerial vehicles is proposed that uses the parameter space approach. Stability and robustness analyses are carried out in the controller parameter space to determine a set of stable controller gains that guarantee also robustness against system parameter uncertainties. Additionally, the trade-off between robustness and performance is included...
The wings of loitering unit could be unfolded in flight. In view of the model parameters uncertainty caused by the structural change, based on the vehicle's longitudinal and lateral motion equations, combined with the characteristics of ADRC, active disturbance rejection attitude controller is designed. Six degrees of freedom nonlinear simulation model is operated with Simulink and aerodynamic parameters...
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