1,081 research outputs found

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

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    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

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

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    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

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    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

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    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

    Robust finite-time position and attitude tracking of a quadrotor UAV using super-twisting control algorithm with linear correction terms

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    This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms.CONACYT – Consejo Nacional de Ciencia y TecnologíaPROCIENCI

    Adaptive and Optimal Motion Control of Multi-UAV Systems

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    This thesis studies trajectory tracking and coordination control problems for single and multi unmanned aerial vehicle (UAV) systems. These control problems are addressed for both quadrotor and fixed-wing UAV cases. Despite the fact that the literature has some approaches for both problems, most of the previous studies have implementation challenges on real-time systems. In this thesis, we use a hierarchical modular approach where the high-level coordination and formation control tasks are separated from low-level individual UAV motion control tasks. This separation helps efficient and systematic optimal control synthesis robust to effects of nonlinearities, uncertainties and external disturbances at both levels, independently. The modular two-level control structure is convenient in extending single-UAV motion control design to coordination control of multi-UAV systems. Therefore, we examine single quadrotor UAV trajectory tracking problems to develop advanced controllers compensating effects of nonlinearities and uncertainties, and improving robustness and optimality for tracking performance. At fi rst, a novel adaptive linear quadratic tracking (ALQT) scheme is developed for stabilization and optimal attitude control of the quadrotor UAV system. In the implementation, the proposed scheme is integrated with Kalman based reliable attitude estimators, which compensate measurement noises. Next, in order to guarantee prescribed transient and steady-state tracking performances, we have designed a novel backstepping based adaptive controller that is robust to effects of underactuated dynamics, nonlinearities and model uncertainties, e.g., inertial and rotational drag uncertainties. The tracking performance is guaranteed to utilize a prescribed performance bound (PPB) based error transformation. In the coordination control of multi-UAV systems, following the two-level control structure, at high-level, we design a distributed hierarchical (leader-follower) 3D formation control scheme. Then, the low-level control design is based on the optimal and adaptive control designs performed for each quadrotor UAV separately. As particular approaches, we design an adaptive mixing controller (AMC) to improve robustness to varying parametric uncertainties and an adaptive linear quadratic controller (ALQC). Lastly, for planar motion, especially for constant altitude flight of fixed-wing UAVs, in 2D, a distributed hierarchical (leader-follower) formation control scheme at the high-level and a linear quadratic tracking (LQT) scheme at the low-level are developed for tracking and formation control problems of the fixed-wing UAV systems to examine the non-holonomic motion case. The proposed control methods are tested via simulations and experiments on a multi-quadrotor UAV system testbed

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

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    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
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