The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Backpropagating constraints-based trajectory tracking control of a quadrotor with constrained actuator dynamics and complex unknowns

In this paper, a backpropagating constraints-based trajectory tracking control (BCTTC) scheme is addressed for trajectory tracking of a quadrotor with complex unknowns and cascade constraints arising from constrained actuator dynamics, including saturations and dead zones. The entire quadrotor system including actuator dynamics is decomposed into five cascade subsystems connected by intermediate saturated nonlinearities. By virtue of the cascade structure, backpropagating constraints (BCs) on intermediate signals are derived from constrained actuator dynamics suffering from nonreversible rotations and nonnegative squares of rotors, and decouple subsystems with saturated connections. Combining with sliding-mode errors, BC-based virtual controls are individually designed by addressing underactuation and cascade constraints. In order to remove smoothness requirements on intermediate controls, first-order filters are employed, and thereby contributing to backstepping-like subcontrollers synthesizing in a recursive manner. Moreover, universal adaptive compensators are exclusively devised to dominate intermediate tracking residuals and complex unknowns. Eventually, the closed-loop BCTTC system stability can be ensured by the Lyapunov synthesis, and trajectory tracking errors can be made arbitrarily small. Simulation studies demonstrate the effectiveness and superiority of the proposed BCTTC scheme for a quadrotor with complex constrains and unknowns

Comprehensive review on controller for leader-follower robotic system

985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies

Multi-Layered Optimal Navigation System For Quadrotors UAV

Purpose This paper aims to propose a new multi-layered optimal navigation system that jointly optimizes the energy consumption, improves the robustness and raises the performance of a quadrotor unmanned aerial vehicle (UAV). Design/methodology/approach The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure the UAV from collisions. Finally, the control layer allows the quadrotor to track the generated path and guarantees the stability using a double loop non-linear optimal backstepping controller (OBS). Findings All the obtained results are confirmed using several scenarios in different situations to prove the accuracy, energy optimization and the robustness of the designed system. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The originality of this research is the design of a multi-layered optimal navigation system for quadrotor UAV. The proposed control architecture presents a direct relation between the states and their derivatives, which then simplifies the trajectory generation problem. Furthermore, the derived differentially flat equations allow optimization to occur within the output space as opposed to the control space. This is beneficial because constraints such as obstacle avoidance occur in the output space; hence, the computation time for constraint handling is reduced. For the OBS, the novelty is that all controller parameters are derived using the multi-objective genetic algorithm (MO-GA) that optimizes all the quadrotor state’s cost functions jointly

Fault Tolerant Super Twisting Sliding Mode Control of a Quadrotor UAV Using Control Allocation

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a relative degree equal to one. A super-twisting sliding mode controller is proposed because of its robustness to uncertainties and perturbations. It increases accuracy and reduces chattering. A control allocation algorithm is developed to cope with the actuator fault. Firstly, a nonlinear model of the quadrotor unmanned aerial vehicle (UAV) is presented. Then, the controller design and type of the actuator fault are explained. The control allocation algorithm is used to optimize the trajectory tracking performance of the quadrotor in the presence of an actuator fault. A control allocation algorithm is an effective approach to implementing fault-tolerant control. When actuator faults are identified, they can be modeled as changes in the B matrix of constraints. Various simulations have been made for situations with and without actuator failure. In normal conditions, the quadrotor can accurately track altitude, roll, pitch and yaw references. In faulty conditions, the quadrotor can follow the references with a small error. Simulations prove the effectiveness of the control allocation algorithm, which stabilizes the quadrotor in case of an actuator fault. Overall, this paper presents a novel fault-tolerant controller design for quadrotor aircraft that effectively addresses actuator faults using a super-twisting sliding mode controller and control allocation algorithm

Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model

In recent times, there are has been growing substantive attention to the quadrotor Unmanned Aerial Vehicle (UAV) stability control. However, inherent nonlinearity is a major challenge with this control technique, this paper, therefore, developed a PID based Internal Model Control (IMC) method for the dynamic model of quadrotor UAV. The versatility and simplicity of the Proportional-Integral-Derivative (PID) controller enable it to enjoy wide usage and acceptability as stability control methods for the unmanned aerial vehicles. The aim of this paper is to use the PID controller with IMC to control a UAV. The proposed approach - IMC-PID control method -was simulated using MATLAB software and X-plane flight simulator. Thereafter, a comparative analysis of the IMC-PID control method with Chien-Hrones-Reswick, Cohen-coon, and Ziegler Nichols based PID Controllers was done using pitch and altitude as performance metrics. Keywords: Internal Model Control,MATLAB/Simulink, Proportional Integral Derivative, Quadrotor, Unmanned Aerial Vehicle (UAV),X-Plane, DOI: 10.7176/CTI/9-01 Publication date: April 30th 202