Robust hovering and trajectory tracking control of a quadrotor helicopter using acceleration feedback and a novel disturbance observer

Hovering and trajectory tracking control of rotary-wing aircrafts in the presence of uncertainties and external disturbances is a very challenging task. This thesis focuses on the development of the robust hovering and trajectory tracking control algorithms for a quadrotor helicopter subject to both periodic and aperiodic disturbances along with noise and parametric uncertainties. A hierarchical control structure is employed where high-level position controllers produce reference attitude angles for the low-level attitude controllers. Reference attitude angles are usually determined analytically from the position command signals that control the positional dynamics. However, such analytical formulas may produce large and non-smooth reference angles which must be saturated and low-pass filtered. In this thesis, desired attitude angles are determined numerically using constrained nonlinear optimization where certain magnitude and rate constraints are imposed. Furthermore, an acceleration based disturbance observer (AbDOB) is designed to estimate and suppress disturbances acting on the positional dynamics of the quadrotor. For the attitude control, a nested position, velocity, and inner acceleration feedback control structure consisting of PID and PI type controllers are developed to provide high sti ness against external disturbances. Reliable angular acceleration is estimated through an extended Kalman filter (EKF) cascaded with a classical Kalman lter (KF). This thesis also proposes a novel disturbance observer which consists of a bank of band-pass filters connected parallel to the low-pass filter of a classical disturbance observer. Band-pass filters are centered at integer multiples of the fundamental frequency of the periodic disturbance. Number and bandwidth of the band-pass filters are two crucial parameters to be tuned in the implementation of the new structure. Proposed disturbance observer is integrated with a sliding mode controller to tackle the robust hovering and trajectory tracking control problem. The sensitivity of the proposed disturbance observer based control system to the number and bandwidth of the band-pass filters are thoroughly investigated via several simulations. Simulations are carried out on a high delity model where sensor biases and measurement noise are also considered. Results show that the proposed controllers are very effective in providing robust hovering and trajectory tracking performance when the quadrotor helicopter is subject to the wind gusts generated by the Dryden wind model along with plant uncertainties and measurement noise. A comparison with the classical disturbance observer-based control is also provided where better tracking performance with improved robustness is achieved in the presence of noise and external disturbance

Control of a hovering quadrotor UAV subject to periodic disturbances

Quadrotor is a rotary-wing UAV, which has a simple structure but highly nonlinear dynamics. Controlling a hovering quadrotor subject to external disturbances is a crucial task in many applications. In this paper, periodic disturbances have been tackled and novel disturbance observers (DOB) have been developed to estimate the total disturbance acting on the vehicle. It is especially difficult to reject periodic disturbances in low as well as in high frequency region due to the bandwidth limitations of the low-pass filter utilized in conventional DOB. As the cutoff frequency of the low-pass filter is critical, increased bandwidth reduces the robustness which degrades the disturbance rejection performance in the presence of noise. In addition to the low-pass filter, the new structure also consists of a bank of band-pass filters and a high-pass filter. Since the total disturbance acting on the vehicle is compensated by the proposed DOB, PD controllers with feedforward terms are utilized for stabilizing both position and attitude dynamics. Simulation results show the improved robustness obtained by the proposed method

Control of a hovering quadrotor UAV subject to periodic disturbances

Quadrotor is a rotary-wing UAV, which has a simple structure but highly nonlinear dynamics. Controlling a hovering quadrotor subject to external disturbances is a crucial task in many applications. In this paper, periodic disturbances have been tackled and novel disturbance observers (DOB) have been developed to estimate the total disturbance acting on the vehicle. It is especially difficult to reject periodic disturbances in low as well as in high frequency region due to the bandwidth limitations of the low-pass filter utilized in conventional DOB. As the cutoff frequency of the low-pass filter is critical, increased bandwidth reduces the robustness which degrades the disturbance rejection performance in the presence of noise. In addition to the low-pass filter, the new structure also consists of a bank of band-pass filters and a high-pass filter. Since the total disturbance acting on the vehicle is compensated by the proposed DOB, PD controllers with feedforward terms are utilized for stabilizing both position and attitude dynamics. Simulation results show the improved robustness obtained by the proposed method

Nonlinear adaptive control of an aerial manipulation system

This paper presents the nonlinear adaptive control of a quadrotor endowed with a 2 degrees of freedom (DOF) manipulator. By considering the quadrotor and the robot arm as a combined system, complete modeling of the aerial manipulation system (AMS) has been presented using the Euler-Lagrange method. A hierarchical nonlinear control scheme which consists of outer and inner control loops has been utilized. Model Reference Adaptive Controller (MRAC) is designed for the outer loop where the required command signals are generated to force the quadrotor to move on a reference trajectory in the presence of uncertainties and reaction forces coming from the manipulator. For the inner loop, the attitude dynamics of the quadrotor and the dynamics of the 2-DOF robotic arm are considered as a fully actuated 5-DOF unified part of the AMS. Nonlinear adaptive control has been utilized for the low-level controller where the changes in inertias and the masses have been tackled along with the reaction forces acting on the attitude part of the AMS. The proposed technique has been validated through simulations in two different scenarios

Trajectory control of a quadrotor using a control allocation approach

A quadrotor is an underactuated unmanned aerial vehicle with four inputs to control the dynamics. Trajectory control of a quadrotor is a challenging task and usually tackled in a hierarchical framework where desired/reference attitude angles are analytically determined from the desired command signals, i.e. virtual controls, that control the positional dynamics of the quadrotor and the desired yaw angle is set to some constant value. Although this method is relatively straightforward, it may produce large and nonsmooth reference angles which must be saturated and low-pass filtered. In this work, we show that the determination of desired attitude angles from virtual controls can be viewed as a control allocation problem and it can be solved numerically using nonlinear optimization where certain magnitude and rate constraints can be imposed on the desired attitude angles and the yaw angle need not be constant. Simulation results for both analytical and numerical methods have been presented and compared. Results for constrained optimization show that the flight performance is quite satisfactory

Evaluation of Corroded OPS Fiber-Concrete using NDT Method

Concrete is one part of an infrastructure that is very commonly used, materials widely used in making concrete, such as sand and gravel, come from nature that are limited and will run out if used continuously. Oil palm shell (OPS) waste is an  alternative that can be used to solve this problem. In this study the proportion of OPS used was 0%, 25%, 50%, and 75% as a partial substitute for coarse aggregate. Pre- and post-corrosion specimens use beam sizes with dimensions of 10 cm × 10 cm × 50 cm. The specimen has a corrosion rate of 7%. The specimen is tested for flexural strength, in addition, the specimen is tested using the Non-Destructive Testing (NDT) method at the age of 28 days and after acceleration corrosion. The NDT method is one way for early inspection to determine the condition of a concrete structure. The NDT methods used in this study were resistivity and impact-echo as evaluation tools for the influence of OPS and fiber on corroded concrete. Based on the results that have been carried out, the lowest resistivity value was 10.87 kohm/cm on 0% OPS post-corrosion specimen and the highest resistivity value of 24.12 kohm/cm on 0% OPS pre-corrosion specimen. Meanwhile, the impact-echo test obtained the lowest value of 2625.33 kHz on 75% OPS post-corrosion specimen and the highest impact-echo value of 11725.26 kHz on 0% OPS post-corrosion specimens. With the increase in the percentage of OPS, the resistivity obtained in pre-corrosion concrete will decrease as well as the impact echo value, except for the 75% OPS specimen, while in post-corrosion specimen impact-echo and resistivity are inversely proportional. The greater the percentage of OPS in concrete, the resistivity value tends to increase but the frequency of impact-echo tends to decrease except specimen with 75% OPS

Design and implementation of Adaptive Neuro-Fuzzy Inference system for the control of an uncertain Ball on Beam Apparatus

Controlling an uncertain mechatronic system is challenging and crucial for its automation. In this regard, several control-strategies are developed to handle such systems. However, these control-strategies are complex to design, and require in-depth knowledge of the system and its dynamics. In this study, we are testing the performance of a rather simple control-strategy (Adaptive Neuro-Fuzzy Inference System) using an uncertain Ball and Beam System. The custom-designed apparatus utilizes image processing technique to acquire the position of the ball on the beam. Then, desired position is achieved by controlling the beam angle using Adaptive Neuro-Fuzzy and PID control. We are showing that adaptive neuro-fuzzy control can effectively handle the system uncertainties, which traditional controllers (i.e., PID) cannot handle

Biallelic MED27 variants lead to variable ponto-cerebello-lental degeneration with movement disorders

MED27 is a subunit of the Mediator multiprotein complex, which is involved in transcriptional regulation. Biallelic MED27 variants have recently been suggested to be responsible for an autosomal recessive neurodevelopmental disorder with spasticity, cataracts and cerebellar hypoplasia. We further delineate the clinical phenotype of MED27-related disease by characterizing the clinical and radiological features of 57 affected individuals from 30 unrelated families with biallelic MED27 variants. Using exome sequencing and extensive international genetic data sharing, 39 unpublished affected individuals from 18 independent families with biallelic missense variants in MED27 have been identified (29 females, mean age at last follow-up 17 ± 12.4 years, range 0.1-45). Follow-up and hitherto unreported clinical features were obtained from the published 12 families. Brain MRI scans from 34 cases were reviewed. MED27-related disease manifests as a broad phenotypic continuum ranging from developmental and epileptic-dyskinetic encephalopathy to variable neurodevelopmental disorder with movement abnormalities. It is characterized by mild to profound global developmental delay/intellectual disability (100%), bilateral cataracts (89%), infantile hypotonia (74%), microcephaly (62%), gait ataxia (63%), dystonia (61%), variably combined with epilepsy (50%), limb spasticity (51%), facial dysmorphism (38%) and death before reaching adulthood (16%). Brain MRI revealed cerebellar atrophy (100%), white matter volume loss (76.4%), pontine hypoplasia (47.2%) and basal ganglia atrophy with signal alterations (44.4%). Previously unreported 39 affected individuals had seven homozygous pathogenic missense MED27 variants, five of which were recurrent. An emerging genotype-phenotype correlation was observed. This study provides a comprehensive clinical-radiological description of MED27-related disease, establishes genotype-phenotype and clinical-radiological correlations and suggests a differential diagnosis with syndromes of cerebello-lental neurodegeneration and other subtypes of 'neuro-MEDopathies'