Article
Engineering, Electrical & Electronic
Kai Zhao, Jinhui Zhang, Peixuan Shu, Xiwang Dong
Summary: This paper addresses the trajectory tracking control problem of a quadrotor subject to unknown external disturbance and input constraints. In order to achieve active disturbance rejection, a composite nonlinear extended state observer (ESO) that consists of both linear and nonlinear functions is developed, and rigorous convergence analysis is presented. The proposed composite nonlinear ESO combines the advantages of both linear and nonlinear ESOs. Furthermore, a position controller is proposed in the nested saturation control framework, incorporating disturbance estimation to actively reject disturbances, providing a composite disturbance rejection control strategy for systems with input constraints and unknown disturbances. The domain of attraction and rigorous stability analysis of the whole system are also presented. Finally, simulation and experiment results show the efficiency of the proposed methods.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2023)
Article
Robotics
Sihao Sun, Angel Romero, Philipp Foehn, Elia Kaufmann, Davide Scaramuzza
Summary: This article compares two state-of-the-art control frameworks for accurate trajectory-tracking control of quadrotors. The study evaluates the nonlinear-model-predictive controller (NMPC) and the differential-flatness-based controller (DFBC) through simulations and real-world experiments. The findings demonstrate that the NMPC performs better in tracking dynamically infeasible trajectories, but at the expense of longer computation time and the risk of numerical convergence issues. The experiments also highlight the necessity of using an inner loop controller and aerodynamic drag model for agile trajectory tracking.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Chemistry, Multidisciplinary
Kyunghyun Lee, Sangkyeum Kim, Seongwoo Kwak, Kwanho You
Summary: The proposed method utilizes a sliding mode observer to estimate the states of a quadrotor, employs sliding mode control with a nonlinear sliding surface to accelerate angle convergence, and improves target tracking performance.
APPLIED SCIENCES-BASEL
(2021)
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
Computer Science, Artificial Intelligence
Esteban Carvalho, Pierre Susbielle, Nicolas Marchand, Ahmad Hably, Jilles S. Dibangoye
Summary: This paper proposes an event-based neural learning control strategy that combines a standard cascaded flight controller with a deep neural network to learn disturbances and improve tracking performance. The strategy is validated in a ROS/Gazebo simulation environment and confirmed to be effective in real experiments with wind disturbance.
Article
Automation & Control Systems
Mou Chen, Shixun Xiong, Qingxian Wu
Summary: In this paper, a tracking flight control scheme based on a disturbance observer is proposed for a quadrotor with external disturbances. The scheme involves estimating unknown disturbances and developing flight controllers to track given signals. Experimental results demonstrate the effectiveness of the control strategy.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Dong Wang, Quan Pan, Yang Shi, Jinwen Hu, Chunhui Zhao Records
Summary: This article investigates an efficient nonlinear model-predictive control (NMPC) scheme for trajectory tracking control of a quadrotor unmanned aerial vehicle (UAV). By introducing a new algorithm and stability constraint, acceptable control performance is achieved with reduced computational complexity.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Article
Engineering, Aerospace
Bailun Jiang, Boyang Li, Weifeng Zhou, Li-Yu Lo, Chih-Keng Chen, Chih-Yung Wen
Summary: This paper proposes a neural network-based model predictive controller for precise position control of a quadrotor UAV. By collecting flight data and training the neural network model, the prediction of linear accelerations is achieved. Simulation and experiments show that the proposed controller outperforms the traditional PID controller in trajectory tracking.
Article
Mathematics, Interdisciplinary Applications
Chunhui Zhao, Dong Wang, Jinwen Hu, Quan Pan
Summary: This paper presents a novel trajectory tracking guidance law for a quadrotor UAV with obstacle avoidance based on NMPC scheme, utilizing contraction constraint for stability and a penalty term for obstacle avoidance extension. Real-time control is achieved by dynamically adjusting the prediction horizon to reduce computational burden. Extensive simulations and experiments demonstrate the effectiveness of the proposed NMPC scheme.
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY
(2021)
Article
Automation & Control Systems
Yuhua Qi, Yang Zhu, Jianan Wang, Jiayuan Shan, Hugh H. T. Liu
Summary: This paper proposes a modified uncertainty and disturbance estimator (MUDE)-based attitude controller for quadrotors based on a high-accuracy actuator dynamic model, significantly improving attitude tracking performance during maneuvers. By utilizing a virtual sensor, an MUDE is constructed to compensate for uncertainties and disturbances, considering actuator disturbance rejection, which distinguishes it from other existing solutions. The effectiveness and advantage of the proposed control method are demonstrated through experimental results on a real quadrotor platform.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Engineering, Aerospace
Xinyu Chen, Yunsheng Fan, Guofeng Wang, Dongdong Mu
Summary: This paper designs a cooperative control method for the multi-quadrotor suspension system based on consistency theory, achieving accurate trajectory tracking control through consistent formation algorithm and nonlinear controller.
Article
Robotics
Fang Nan, Sihao Sun, Philipp Foehn, Davide Scaramuzza
Summary: This study proposes a fault-tolerant controller using nonlinear model predictive control (NMPC) to stabilize and control a quadrotor in the event of complete failure of a single rotor. Unlike existing methods, this approach considers the full nonlinear dynamics of the damaged quadrotor and the thrust constraint of each rotor.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Acoustics
Ali Ghasemi, Mohammad M. Azimi
Summary: This paper investigates the composite control of position and orientation of the quadrotor for tracking purposes. A composite adaptive fuzzy PID-Like controller is proposed to ensure the stabilization and tracking goals of the quadrotor in the presence of uncertainties and disturbances. The experimental results demonstrate that the proposed method leads to resilient stabilization and tracking compared to conventional methods.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Review
Engineering, Multidisciplinary
Selima. Bennaceur, Naoufel Azouz
Summary: In this study, an original design of a flexible quadcopter is proposed and evaluated, aiming to optimize its maneuverability and controllability in tight and complex spaces, even when carrying relatively heavy loads. The introduced deformation improves the trajectory tracking capability of the system. A new non-linear controller, considering the effect of arms deformation, is proposed and adapts well to disturbances.
ALEXANDRIA ENGINEERING JOURNAL
(2023)
Article
Automation & Control Systems
Javier Pliego-Jimenez
Summary: This article addresses the problem of trajectory tracking for aerial vehicles with four rotors and dynamic parameter uncertainties by proposing a nonlinear hierarchical adaptive control method. The stability of the whole closed-loop system is proven using an appropriate Lyapunov function instead of relying on the stability properties of time-varying cascade systems. Additionally, a novel method to compute the desired orientation based on desired Cartesian trajectories and position control inputs is presented, with simulation results demonstrating the performance of the proposed adaptive controller.
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
(2021)
Article
Automation & Control Systems
Fatima Oliva-Palomo, Anand Sanchez-Orta, Pedro Castillo, Hussain Alazki
CONTROL ENGINEERING PRACTICE
(2018)
Article
Automation & Control Systems
Carlos Izaguirre-Espinosa, Aldo-Jonathan Munoz-Vazquez, Anand Sanchez-Orta, Vicente Parra-Vega, Pedro Castillo
CONTROL ENGINEERING PRACTICE
(2018)
Article
Robotics
Diego Mercado, Pedro Castillo, Rogelio Lozano
Article
Automation & Control Systems
E. Ibarra-Jimenez, P. Castillo, H. Abaunza
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2020)
Article
Engineering, Aerospace
Fatima Oliva-Palomo, Aldo Jonathan Munoz-Vazquez, Anand Sanchez-Orta, Vicente Parra-Vega, Carlos Izaguirre-Espinosa, Pedro Castillo
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2019)
Article
Robotics
L. F. Sanchez, H. Abaunza, P. Castillo
Article
Engineering, Aerospace
Hernan Abaunza, Pedro Castillo
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2020)
Article
Computer Science, Artificial Intelligence
J. Betancourt, P. Castillo, R. Lozano
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2020)
Article
Robotics
M. Garcia, P. Castillo, E. Campos, R. Lozano
Summary: This paper introduces a novel underwater vehicle configuration inspired by the Sepiida animal, deriving mathematical equations for vehicle movement and performing a dynamic model analysis. A prototype with an embedded system is developed to validate the mathematical representation, and initial validation of the closed-loop system is achieved using a linear controller.
Article
Robotics
Cristino de Souza, Rhys Newbury, Akansel Cosgun, Pedro Castillo, Boris Vidolov, Dana Kulic
Summary: This study employs deep reinforcement learning to address the problem of capturing mobile targets, and simulation experiments demonstrate the superiority of the learning-based approach.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
C. de Souza, P. Castillo, B. Vidolov
Summary: This paper proposes a behavioral-based strategy for cooperative hunting using drones. Each drone acts as an individual agent, computing its guidance strategy towards the target based on the relative position of its neighbors without direct communication. The algorithm is based on deviated pure pursuit methodology, mimicking natural hunting formations.
Article
Computer Science, Software Engineering
Julio Betancourt, Baptiste Wojtkowski, Pedro Castillo, Indira Thouvenin
Summary: This paper proposes a new virtual control scheme for reducing cognitive overload when operating UAVs. The scheme is based on an interaction system called DrEAM located in a CAVE, and a real robot with an embedded controller based on quaternion formulation. Experimental results show that the proposed virtual control scheme can effectively reduce cognitive overload and the maneuverability of the real drone is also demonstrated in real-time experiments.
IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS
(2023)
Proceedings Paper
Engineering, Electrical & Electronic
G. Ortiz-Torres, P. Castillo, J. Reyes-Reyes
2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2018)
Proceedings Paper
Engineering, Electrical & Electronic
C. de Souza, P. Castillo, R. Lozano, B. Vidolov
2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2018)
Proceedings Paper
Engineering, Electrical & Electronic
J. Betancourt-Vera, P. Castillo, R. Lozano, B. Vidolov
2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)
(2018)
