576 research outputs found
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
Advanced Feedback Linearization Control for Tiltrotor UAVs: Gait Plan, Controller Design, and Stability Analysis
Three challenges, however, can hinder the application of Feedback
Linearization: over-intensive control signals, singular decoupling matrix, and
saturation. Activating any of these three issues can challenge the stability
proof. To solve these three challenges, first, this research proposed the drone
gait plan. The gait plan was initially used to figure out the control problems
in quadruped (four-legged) robots; applying this approach, accompanied by
Feedback Linearization, the quality of the control signals was enhanced. Then,
we proposed the concept of unacceptable attitude curves, which are not allowed
for the tiltrotor to travel to. The Two Color Map Theorem was subsequently
established to enlarge the supported attitude for the tiltrotor. These theories
were employed in the tiltrotor tracking problem with different references.
Notable improvements in the control signals were witnessed in the tiltrotor
simulator. Finally, we explored the control theory, the stability proof of the
novel mobile robot (tilt vehicle) stabilized by Feedback Linearization with
saturation. Instead of adopting the tiltrotor model, which is over-complicated,
we designed a conceptual mobile robot (tilt-car) to analyze the stability
proof. The stability proof (stable in the sense of Lyapunov) was found for a
mobile robot (tilt vehicle) controlled by Feedback Linearization with
saturation for the first time. The success tracking result with the promising
control signals in the tiltrotor simulator demonstrates the advances of our
control method. Also, the Lyapunov candidate and the tracking result in the
mobile robot (tilt-car) simulator confirm our deductions of the stability
proof. These results reveal that these three challenges in Feedback
Linearization are solved, to some extents.Comment: Doctoral Thesis at The University of Toky
Challenges in Controllers on UAV Aircraft: Theory and Practice
This review explores the theoretical foundations and experimental dynamics of
modern tiltrotor aircraft. Emphasizing feedback linearization, the study delves
into the distinctive constraints and angular velocity ranges shaping tiltrotor
behavior. Experimental findings highlight challenges in tracking circular
trajectories, with color-coded representations illustrating the impact of
angular velocity. Practical implications for applications like unmanned aerial
vehicles are discussed, alongside identified challenges and avenues for future
research. This work contributes to both theoretical understanding and practical
considerations in the evolving field of tiltrotor control
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
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