Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors

(c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.In this paper, a new robust control strategy based on a predictor and the uncertainty and disturbance estimator is developed for a class of uncertain nonlinear systems with input/output delays. The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analysis. The proposed strategy is applied to the particular case of quadrotor systems and validated through extensive simulations to evaluate performance and robustness. The controller is also implemented in a quadrotor prototype and validated in flight tests.This work was supported by the PROMETEOII/2013/004, Conselleria d'Educacio, Generalitat Valenciana, and TIN2014-56158-C4-4-P-AR, Ministerio de Economia y Competitividad, Spain.Sanz Díaz, R.; García Gil, PJ.; Zhong, Q.; Albertos Pérez, P. (2017). Predictor-Based Control of a Class of Time-Delay Systems and its Application to Quadrotors. IEEE Transactions on Industrial Electronics. 64(1):459-469. https://doi.org/10.1109/TIE.2016.2609378S45946964

Input Delay Estimation for Input-Affine Dynamical Systems Based on Taylor Expansion

In this brief, we propose a novel method based on the Taylor expansion for the estimation of input delay for a class of input-affine dynamical systems. The proposed method guarantees the asymptotic convergence of the estimation error to zero. An application to the input delay estimation of a continuous stirred tank reactor system shows the effectiveness of the proposed method

Improving attitude estimation and control of quadrotor systems

[EN] Some improvements in state estimation and control of quadrotors are presented. An efficient fusion algorihtm based on the Kalman filter, which also compensates the time delay in the attitude estimation is developed. Furthermore, a novel control approach is applied with succesful and promising results[ES] En esta tesina se presentan algunas mejoras en la estimación del estado y control de cuadrirrotores. Se desarrolla un algoritmo de fusión eficiente, que además compensa el retardo en la estimación de la orientación. También se consigue aplicar una técnica de control innovadora con buenos y prometedores resultadosSanz Díaz, R. (2014). Improving attitude estimation and control of quadrotor systems. http://hdl.handle.net/10251/56144Archivo delegad

Black-Box System Identification for Low-Cost Quadrotor Attitude at Hovering

The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective approach for the problem of the fine-tuning dynamic models for applications such control system design and as handling quality evaluation. This paper focuses on black-box identification, describing the quadrotor dynamics based on experimental setup through sensor preparation for data collection, modelling, control design, and verification stages

New Predictor and 2DOF Control Scheme for Industrial Processes with Long Time Delay

© 2018 IEEE. Personal use of this material is permitted. Permissíon from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertisíng or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.[EN] To address the difficulty of controlling industrial processes with long time delay, a novel design of dead-time compensator (DTC) is introduced, which can be used to predict the undelayed output response of any process (no matter stable or unstable) such that the control design may be focused on the delay-free part of the process for performance optimization. Based on the undelayed output estimation, a two-degree-of-freedom (2DOF) control scheme is analytically developed for optimizing the set-point tracking and disturbance rejection, respectively. By proposing the desired transfer functions, the corresponding controllers are analytically derived based on commonly used low-order process models. A notable advantage is that there is a single adjustable parameter in the proposed DTC, as well as in each controller, which can be monotonically tuned to meet a good tradeoff between the prediction (or control) performance and its robustness. Illustrative examples from the literature and a practical application to a temperature control system of a jacketed reactor are used to demonstrate the effectiveness of the proposed predictor-based control scheme.This work was supported in part by the NSF China under Grant 61633006 and Grant 61473054; in part by the National Thousand Talents Program of China, the PROMETEOII/2013/004, Conselleria d'Educacio, Generalitat Valenciana, and TIN2014-56158-C4-4-P-AR; in part by the Ministerio de Economia y Competitividad; and in part by the FPI-UPV 2014 Grant Program from the Universidad Politecnica de Valencia, Valencia, SpainLiu, T.; García Gil, PJ.; Chen, Y.; Ren, X.; Albertos Pérez, P.; Sanz Diaz, R. (2018). New Predictor and 2DOF Control Scheme for Industrial Processes with Long Time Delay. IEEE Transactions on Industrial Electronics. 65(5):4247-4256. https://doi.org/10.1109/TIE.2017.2760839S4247425665

Periodic Event-Triggered Sampling and Dual-Rate Control for a Wireless Networked Control System With Applications to UAVs

© 2019 IEEE. Personal use of this material is permitted. Permissíon from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertisíng or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."[EN] In this paper, periodic event-triggered sampling and dual-rate control techniques are integrated in a wireless networked control system (WNCS), where time-varying network-induced delays and packet disorder are present. Compared to the conventional time-triggered sampling paradigm, the control solution is able to considerably reduce network utilization (number of transmissions), while retaining a satisfactory control performance. Stability for the proposed WNCS is ensured using linear matrix inequalities. Simulation results show the main benefits of the control approach, which are experimentally validated by means of an unmanned-aerial-vehicle-based test-bed platform.This work was supported in part by the European Commission as part of Project H2020-SEC-2016-2017-Topic: SEC-20-BES-2016 (Id: 740736)-"C2 Advanced Multi-domain Environment and Live Observation Technologies," in part by the European Regional Development Fund as part of OPZuid 2014-2020 under the Drone Safety Cluster project, in part by the Innovational Research Incentives Scheme under the VICI Grant "Wireless control systems: A new frontier in automation" (No. 11382) awarded by The Netherlands Organization for Scientific Research Applied and Engineering Sciences, and in part by the Ministerio de Economia y Competitividad, Spain, under Project FPU15/02008.Cuenca, Á.; Antunes, D.; Castillo-Frasquet, A.; García Gil, PJ.; Asadi Khashooei, B.; Heemels, W. (2019). Periodic Event-Triggered Sampling and Dual-Rate Control for a Wireless Networked Control System With Applications to UAVs. IEEE Transactions on Industrial Electronics. 66(4):3157-3166. https://doi.org/10.1109/TIE.2018.2850018S3157316666

Adaptive trajectory tracking control for quadrotors with disturbances by using generalized regression neural networks

In this document, the development and experimental validation of a nonlinear controller with an adaptive disturbance compensation system applied on a quadrotor are presented. The introduced scheme relies on a generalized regression neural network (GRNN). The proposed scheme has a structure consisting of an inner control loop inaccessible to the user (i.e., an embedded controller) and an outer control loop which generates commands for the inner control loop. The adaptive GRNN is applied in the outer control loop. The proposed approach lies in the aptitude of the GRNN to estimate the disturbances and unmodeled dynamic effects without requiring accurate knowledge of the quadrotor parameters. The adaptation laws are deduced from a rigorous convergence analysis ensuring asymptotic trajectory tracking. The proposed control scheme is implemented on the QBall 2 quadrotor. Comparisons with respect to a PD-based control, an adaptive model regressor-based scheme, and an adaptive neural-network controller are carried out. The experimental results validate the functionality of the novel control scheme and show a performance improvement since smaller tracking error values are produced.Fil: Lopez Sanchez, Ivan. INSTITUTO POLITÉCNICO NACIONAL (IPN);Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Pérez Alcocer, Ricardo. INSTITUTO POLITÉCNICO NACIONAL (IPN);Fil: Soria, Carlos Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli, Ricardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Moreno Valenzuela, Javier. INSTITUTO POLITÉCNICO NACIONAL (IPN)