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

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

Modelling, identification, and control of a quadrotor helicopter

In this dissertation, we focused on the study of an autonomous flight control of quadrotor helicopter. Robust nonlinear control design strategies using observer-based control are developed, which are capable of achieving reliable and accurate tracking control for quadrotor UAV containing dynamic uncertainties, external disturbances. In order to ease readability of this dissertation, detailed explanations of the mathematical model of quadrotor UAV is provided, including the Newton-Euler formalism, Lyapunov-based stability analysis methods, sliding mode control (SMC) and backstepping fundamentals, and observer-based nonlinear control tools. The tracking control problem of a quadrotor in the presence of model uncertainties and external disturbances is investigated. Particularly, this dissertation presents the design and experimental implementation of nonlinear controller of quadrotor with observer to estimate the uncertainties and external disturbances to meet the desired control objectives. Based on a nonlinear model which considers basic aerodynamic forces and external disturbances, the quadrotor UAV model is simulated to perform a variety of maneuvering such as take-off, landing, smooth translation and horizontal and circular trajectory motions. Backstepping and sliding mode techniques combined with observers are studied, tested and compared. Simulation and a real platform were developed to prove the ability of the observer-based controller to successfully perform certain missions in the presence of unknown external disturbances and can obtain good and satisfactory estimation

Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately. &nbsp

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

Seguimiento de trayectoria robusta de un cuadricóptero sin mediciones de velocidad utilizando el control super-twisting generalizado

This paper presents a nonlinear control strategy to solve the path tracking problem for a quadrotor unmanned aerial vehicle under perturbations. This strategy is based on the Generalized Super-Twisting Algorithm (GSTA); it means the second order sliding mode technique, which is able to ensure robustness with respect to modeling errors and bounded external disturbances due to the added extra linear correction terms. The controller goal is to achieve suitable path tracking of desired absolute positions and yaw angle while keeping the stability of the pitch and roll angle, in spite of the presence of disturbances and the handling of all system nonlinearities. In this work, a scenario in which velocities measurements are not available and are estimated by the Generalized Super-Twisting Observer is considered. Finally, the simulation results are also provided in order to illustrate the performances of the proposed controller.Este artículo presenta una estrategia de control no lineal para resolver el problema de seguimiento de trayectorias para un vehículo aéreo no tripulado bajo perturbaciones. Esta estrategia se basa en el Algoritmo Super-Twisting Generalizado (GSTA); es una técnica de modos deslizantes de segundo orden, la cual es capaz de asegurar robustez con respecto a errores de modelado y perturbaciones externas acotadas debido a los términos de corrección lineales añadidos respecto al algoritmo Super Twisting convencional. El objetivo del controlador es conseguir un seguimiento de trayectoria adecuado de las posiciones absolutas deseadas y del ángulo de guiñada, mientras se mantiene la estabilidad del ángulo de inclinación y de alabeo, a pesar de la presencia de perturbaciones y las no linealidades del sistema. En este trabajo, es considerado un escenario en el que las mediciones de las velocidades no están disponibles y son estimadas por el Observador Super-Twisting Generalizado. Finalmente, también fueron proporcionados los resultados de simulación para ilustrar el desempeño del controlador propuesto

Sliding mode control for altitude and attitude stabilization of quadrotor UAV with external disturbance

This paper addresses the problem of robust altitude and attitude control of ‘×’ mode configuration quadrotor UAV using Lyapunov stability based sliding mode control with saturation function. The dynamic model of the quadrotor was derived by considering nonlinearity factor. MATLAB Simulink was used to simulate the model in two different conditions; without and with the presence of external disturbance. This was done to test the robustness of the control method. Simulation results showed that the sliding mode controller provides good performance and robustness against disturbance