Geometric Surface-Based Tracking Control of a Quadrotor UAV

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear characteristics of the SE(3) configuration space. In particular, geometric surface-based controllers are developed and are shown, through rigorous stability proofs, to have desirable almost global closed loop properties. For the first time in regards to the geometric literature, a region of attraction independent of the position error is identified and its effects are analyzed. The effectiveness of the proposed "surface based" controllers are illustrated by simulations of aggressive maneuvers in the presence of disturbances and motor saturation.Comment: 2018 26th Mediterranean Conference on Control and Automation (MED

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened

Hibridni sustav daljinskog upravljanja lebdjelicom

This article presents one solution to a quadrotor control problem that is based on a discrete automaton. This automaton combines classical PID and more sophisticated LQ controllers to create a hybrid control system. This closed loop control concept is expanded with an open loop controller that enables the aircraft to perform aggressive flying maneuvers. The combination of open and closed loop controllers builds a hybrid controller concept that allows directed and autonomous flying of the quadrotor aerial vehicle. Proposed control concept was tested on an elaborate mathematical model. The article discusses these test results and presents the means to develop such a controller.U radu je opisan hibridni upravljački koncept bespilotne letjelice pogonjene s četiri rotora, koji objedinjuje klasične PID regulatore i naprednije LQ regulatore primjenom Mooreova automata. Takav je hibridni koncept upravljanja u zatvorenoj petlji nadograđen upravljanjem u otvorenoj petlji koje omogućuje ostvarenje agresivnih letačkih manevara. Osim toga, kombinacija upravljanja u otvorenoj I zatvorenoj petlji omogućuje i daljinsko upravljanje letjelicom zasnovano na vizualnoj povratnoj vezi. Predloženi sustav upravljanja letjelicom testiran je na iscrpnom matematičkom modelu letjelice

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, and flies like fixed-wing UAVs. A backstepping controller and an adaptive backstepping controller are designed for trajectory tracking and payload delivery in a medical emergency or medical substance delivery like vaccine delivery in the presence of wind gust. Simulation results show that the backstepping controller effectively tracks the trajectory during the entire flight envelope, including take-off, hovering, the transition phase, level flight mode, and landing. A comparison between Backstepping, Integral Terminal Sliding Mode (ITSMC) and Adaptive Backstepping controllers for payload delivery show that the adaptive backstepping controller effectively tracks the altitude and attitude. ITSMC is capable of tracking the desired trajectory for a change in the mass but has sluggish response. The backstepping controller generates a steady-state error in altitude during the mass change in biplane-quadrotor.The publication of this article was funded by Qatar National Library.Scopu

Rotor failure compensation in a biplane quadrotor based on virtual deflection

A biplane quadrotor is a hybrid type of UAV that has wide applications such as payload pickup and delivery, surveillance, etc. This simulation study mainly focuses on handling the total rotor failure, and for that, we propose a control architecture that does not only handle rotor failure but is also able to navigate the biplane quadrotor to a safe place for landing. In this structure, after the detection of total rotor failure, the biplane quadrotor will imitate reallocating control signals and then perform the transition maneuver and switch to the fixed-wing mode; control signals are also reallocated. A synthetic jet actuator (SJA) is used as the redundancy that generates the desired virtual deflection to control the pitch angle, while other states are taken care of by the three rotors. The SJA has parametric nonlinearity, and to handle it, an inverse adaptive compensation scheme is applied and a closed-loop stability analysis is performed based on the Lyapunov method for the pitch subsystem. The effectiveness of the proposed control structure is validated using numerical simulation carried out in the MATLAB Simulink.Web of Science67art. no. 17

Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3)

Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of minimal attitude representations or ambiguity of quaternions. A new form of integral control terms is proposed to guarantee almost global asymptotic stability when there exist uncertainties in the quadrotor dynamics. A rigorous mathematical proof is given. Numerical example illustrating a complex maneuver, and a preliminary experimental result are provided.Comment: arXiv admin note: substantial text overlap with arXiv:1109.445