Article
Automation & Control Systems
Zhi Zheng, Xiaojie Su, Tao Jiang, Jiangshuai Huang
Summary: This article presents the design of a robust disturbance rejection controller for quadrotor attitude tracking. A scalable constraint technique based on the unified barrier function is developed to restrict the attitude within the dynamic safety envelope. The closed-form state stabilization control input, derived from operational safety rules, ensures both the safety and asymptotic stability of the underlying system. A sliding mode disturbance observer is used to estimate and compensate for unknown time-varying perturbations with minimal chattering and rapid convergence.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Yafeng Wang, Yeqin Wang, Beibei Ren
Summary: This article presents a control strategy to improve the energy efficiency of a quadrotor for field inspections. A power consumption analytical model is constructed, indicating that the power consumption of the quadrotor is correlated with the roll and pitch angles. A cascaded bounded control framework is developed to regulate the angles within the predefined energy-efficient ranges, while achieving successful inspection trajectory tracking. Experimental studies prove the effectiveness of the proposed method.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Engineering, Aerospace
Hakjun Lee, Seongwon Yoon, Soohee Han
Summary: This study proposes a novel composite robust control scheme for a constantly spinning quadrotor to solve the instability problem and achieve omnidirectional sensing. The scheme uses offline calibration and online disturbance observation to compensate for the quadrotor's imbalance characteristics and misalignment between the body-fixed frame and principal axis of rotation. Additionally, the reference inputs are reshaped to achieve the desired flying direction.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Engineering, Aerospace
Akhil B. Krishna, Mangal Kothari
Summary: This paper presents a robust trajectory tracking control design for a variable-pitch quadrotor (VPQ) under adverse external disturbances and parametric uncertainties. The control design utilizes blade element theory and momentum theory to calculate thrust and torque. The control structure consists of outer and inner loops, and a robust control design called super twisting algorithm is used to handle unknown disturbances and parametric uncertainties. Five different static control allocation methods are considered and compared through numerical simulations. The robustness of the control design is demonstrated, and the inverted flight capability of the VPQ is shown.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2022)
Article
Automation & Control Systems
David Lara Alabazares, Abdelhamid Rabhi, Claude Pegard, Fernando Torres Garcia, Gerardo Romero Galvan
Summary: This paper develops a robust controller algorithm for attitude stabilization of a small quadrotor helicopter, combining the TS (Takagi-Sugeno) fuzzy model approach and H infinity robust control. By linearizing the nonlinear model of the vehicle and synthesizing a robust fuzzy controller using tools like linear matrix inequalities (LMI), the proposed scheme successfully stabilizes the quadrotor dynamics at the desired reference point.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2021)
Article
Automation & Control Systems
Shikang Lian, Wei Meng, Zemin Lin, Ke Shao, Jinchuan Zheng, Hongyi Li, Renquan Lu
Summary: This article proposes an adaptive fast nonsingular terminal sliding mode (AFNTSM) controller for improving the attitude control performance of quadrotors. The controller combines the advantages of fast nonsingular terminal sliding mode, integral sliding mode, and adaptive estimation techniques to achieve high-speed, accurate, and robust attitude tracking while suppressing control signal chattering. Experimental results demonstrate that the proposed AFNTSM controller achieves faster convergence and stronger robustness according to theoretical analysis.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Lulu Chen, Zhenbao Liu, Honggang Gao, Guodong Wang
Summary: A novel robust adaptive recursive sliding mode control (ARSMC) strategy is proposed in this article to improve the attitude tracking performance and disturbance rejection of quadrotors. This method achieves finite-time convergence and zero attitude tracking error by introducing recursive sliding mode control and adaptive gain adjustment.
Article
Computer Science, Information Systems
Tao Liang, Kailai Yang, Qiang Han, Chenjie Li, Junlin Li, Qingwen Deng, Shidong Chen, Xianguo Tuo
Summary: This article proposes a low-cost attitude measurement system based on quaternions and Unscented Kalman Filter (UKF), which can accurately estimate the attitude information of the UAV and provide precise data for subsequent attitude control.
Article
Automation & Control Systems
Kunwu Zhang, Yang Shi, Huaiyuan Sheng
Summary: In this paper, a robust nonlinear model predictive control (NMPC) scheme is proposed for the visual servoing of quadrotors subject to external disturbances. By using the virtual camera approach, the image moments are defined in the virtual camera plane and adopted as visual features to derive the decoupled image kinematics. The proposed NMPC scheme ensures that the visual target remains within the field of view of the camera and handles visibility constraints and external disturbances effectively.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Xingling Shao, Lexiu Xu, Wendong Zhang
Summary: This article investigates the quantized control for quadrotor attitude tracking with appointed-time performances. A continuous and piecewise behavior boundary is designed using error transformation to enforce attitude convergence to preassigned transient and steady zones in an appointed time. An extended state observer is introduced to estimate the disturbances acting on the angular rate subsystem. A hysteretic quantizer is established in a controller to reduce the transmission burden and amount of sampling data. The superiority of the control strategy is demonstrated through experimental results.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Jiaxin Xiong, Jian Pan, Guangyi Chen, Xiao Zhang, Feng Ding
Summary: In this article, a sliding mode dual-channel disturbance rejection control method is proposed for the attitude control of a quadrotor under unknown disturbances. The proposed method compensates for the low-frequency and high-frequency components of the disturbances and reduces the influence of the virtual disturbance estimation error. The stability of the system is proved using Lyapunov theory.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Xiao-Zheng Jin, Wei-Wei Che, Zheng-Guang Wu, Chao Deng
Summary: This article focuses on the consensus formation control problem of a class of networked quadrotor aircraft with partially bounded and state-dependent perturbations. Adaptive techniques are used to design virtual position control strategies and adaptive attitude control strategies to achieve bounded position tracking and attitude tracking.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Automation & Control Systems
Xiangyu Shao, Guanghui Sun, Weiran Yao, Jianxing Liu, Ligang Wu
Summary: In this article, a novel adaptive sliding mode control strategy is proposed for attitude and altitude stabilization of a quadrotor UAV, considering input saturation. The proposed control method combines the advantages of sliding mode control and adaptive control. Simulations and experiments are conducted to verify its effectiveness and practicability.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Computer Science, Artificial Intelligence
Dinesh D. Dhadekar, Prithvi D. Sanghani, K. K. Mangrulkar, S. E. Talole
Summary: This paper investigates a robust position and attitude tracking control problem of a quadrotor under system nonlinearities, input coupling, aerodynamic uncertainties, and external wind disturbances. A robustified nonlinear dynamic inversion (NDI) control scheme based on Uncertainty and Disturbance Estimator (UDE) technique is proposed, and its effectiveness is confirmed through simulations and experimental validation.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2021)
Article
Engineering, Aerospace
Meiling Tao, Qiang Chen, Xiongxiong He, Shuzong Xie
Summary: This article proposes a fixed-time filtered adaptive parameter estimation and control scheme for attitude tracking of quadrotor unmanned aerial vehicles. By constructing a nonsingular fixed-time sliding mode surface and designing auxiliary filtered matrices, the fixed-time parameter convergence is achieved. An adaptive neural controller is designed to ensure the fixed-time convergence of attitude tracking errors in the presence of model uncertainties. The use of auxiliary functions overcomes the possible singularity issue in conventional fixed-time controller designs.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
