Article
Chemistry, Multidisciplinary
Zhicheng Hou, Gong Zhang, Wenlin Yang, Weijun Wang, Changsoo Han
Summary: "This paper introduces a decentralized neighbor-based formation tracking control strategy for multiple quadrotors with a leader-follower structure. By estimating high-order motion states of neighbors using an extended finite-time observer, the proposed control method improves formation performance, maintaining the formation pattern of quadrotors better when tracking an aggressive reference trajectory."
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Jai Raj, Krishna Raghuwaiya, Robin Havea, Jito Vanualailai
Summary: This paper presents a new set of autonomous control laws for navigating multiple mini or micro quadrotors in a workspace with cylindrical obstacles. The control inputs for the quadrotors and avoidance of the obstacles are derived from a single Lyapunov function, which is a novel approach. The control system ensures avoidance of the cylindrical obstacles, near-to-horizontal orientation, and hovering motion, making it suitable for applications with sensitive payloads. Computer simulations demonstrate the effectiveness of the controllers in scenarios with cylindrical towers as obstacles.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Automation & Control Systems
G. Rigatos, M. Abbaszadeh, J. Pomares
Summary: The control problem for nonlinear dynamics of robotic and mechatronic systems with electropneumatic actuation is solved using a flatness-based control approach in successive loops. The systems' state-space model is separated into subsystems connected in cascading loops, with each subsystem being viewed independently as a differentially flat system. The control method is implemented in successive loops, and its global stability is proven through Lyapunov stability analysis. The validity of the control method is confirmed in two case studies: (a) controlling an electropneumatic actuator, and (b) controlling a multi-DOF robotic manipulator with electropneumatic actuators.
IFAC JOURNAL OF SYSTEMS AND CONTROL
(2023)
Article
Automation & Control Systems
Xuetao Zhang, Yubin Chu, Yisha Liu, Xuebo Zhang, Yan Zhuang
Summary: This article proposes a novel autonomous exploration strategy with uniform sampling, which efficiently reduces the unknown volume of 3-D environments and provides accurate reconstruction for quadrotors. By locally sampling viewpoints and backtracking history nodes, this method achieves global coverage effectively. It also balances the space exploration efficiency and reconstruction accuracy by considering the uncertainty of the unknown space.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Engineering, Aerospace
Ruping Cen, Tao Jiang, Pan Tang
Summary: The study integrates modified Gaussian process regression with a quaternion-based control framework for accurate tracking of perturbed quadrotors. The GPR-based control architecture utilizes Bayesian nonparametric representation to estimate perturbation distribution without prior knowledge.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Automation & Control Systems
Ruochen Xue, Li Dai, Da Huo, Huahui Xie, Zhongqi Sun, Yuanqing Xia
Summary: This paper proposes a compound control strategy for the trajectory tracking task of quadrotors under operating constraints and disturbances. The strategy effectively handles disturbances by dividing them into matched and unmatched disturbances and using two control components for compensation and suppression. The strategy is based on integral sliding mode control and robust model predictive control. Conditions are provided to guarantee the robust constraint satisfaction, recursive feasibility and closed-loop stability of the system.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Automation & Control Systems
Qiong Lin, Zhiqiang Miao, Yaonan Wang, Zheng-Guang Wu, Wei He, Rafael Fierro
Summary: This article proposes a control scheme for leader-follower formation control of a group of quadrotors using only relative bearing measurements. The control design does not rely on relative position or velocity measurements and utilizes a hierarchical system. The control law stabilizes the desired formation by maintaining predetermined bearings between quadrotors. A non-singular extraction algorithm is employed for separate translation and rotation control, and a filter-like approach is used to overcome the lack of bearing rate measurements. Additionally, differentiators following the separation principle are used to provide accurate linear velocity and acceleration feedback for the inner-loop controller. The proposed control strategy is validated using Lyapunov stability theory and extensive numerical simulations.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Aerospace
Wenhao Zhang, Xingling Shao, Wendong Zhang, Jiaping Qi, Haoze Li
Summary: In this paper, a novel appointed-time funnel control policy is proposed for quadrotors under environmental disturbances and parametric uncertainties. The control strategy utilizes unknown input observers to identify unknown system dynamics and regulates trajectory tracking error profiles within preassigned boundaries. The proposed approach improves the robustness of quadrotors and is validated through simulations and comparisons.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Marine
Loick Degorre, Emmanuel Delaleau, Olivier Chocron
Summary: This paper reviews the control methods and guidance principles developed for surface and underwater autonomous vehicles. It focuses on model-based nonlinear control methods and guidance principles. The paper details examples and variations of model-based linearizing controllers, applications of line of sight guidance, sliding mode controllers, and other less common control methods for both fully-actuated and underactuated vehicles. It also proposes an alternative definition of underactuation and compares the capabilities, limitations, and suitability of the reviewed methods for typical tasks.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Robotics
Jiajie Yu, Hao Shen, Jianyu Xu, Tong Zhang
Summary: This letter proposes an efficient heuristic viewpoint determination method for autonomous exploration, which addresses the low efficiency issue. By randomly generating higher-quality initial viewpoints using a Gaussian sampler, selecting the next viewpoint with a fresh heuristic evaluation function, and refining the viewpoint, the proposed method outperforms the state-of-the-art frontier-based method by 15%-25% in almost all scenarios, as indicated by extensive simulations and real-world tests.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Jie Lin, Yaonan Wang, Zhiqiang Miao, Shuangwen Fan, Hesheng Wang
Summary: This article proposes an image-based geometric tracking control strategy for a quadrotor to track an unknown moving target under external disturbances using continuous observer design. By designing a higher order sliding mode observer and an outer loop IBVS controller, position convergence and attitude regulation are achieved, and the proposed approach achieves asymptotic stability as proven by theoretical analysis.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Mechanical
Fatima Oliva-Palomo, Anand Sanchez-Orta, Hussain Alazki, Pedro Castillo, Aldo-Jonathan Munoz-Vazquez
Summary: This paper presents an observed-based control strategy for position-yaw tracking of quadrotors, involving virtual controllers and dynamic observers. Numerical simulations and experimental assessments demonstrate the advantages of the proposed scheme in effectively handling measurement noise and disturbances.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2021)
Article
Computer Science, Information Systems
Yuna Oh, Myoung Hoon Lee, Jun Moon
Summary: This paper proposes an infinity-norm based worst-case collision avoidance control system for quadrotors to help them avoid obstacles that cannot be detected by the standard two-norm. The approach is validated through hardware-in-the-loop simulations and experiments, demonstrating its superiority over the standard two-norm based approach in various maneuver situations.
Article
Automation & Control Systems
Yueyue Liu, Keqiang Bai, Haoyu Wang, Qigao Fan
Summary: This paper proposes a robust control scheme for a wheeled mobile robot (WMR). A novel controller based on control Lyapunov function is designed to achieve efficient and robust autonomous motion of the WMR. The controller incorporates a dynamic feedback-linearization approach to account for nonholonomic constraints and a robust control strategy to compensate for structured uncertainties and slippage disturbances. The effectiveness and stability of the proposed method are demonstrated through numerical simulations.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Engineering, Multidisciplinary
Xingling Shao, Wenhao Zhang, Wendong Zhang
Summary: An improved prescribed performance anti-disturbance control method for quadrotors is proposed in this paper, which utilizes event-triggered extended state observers and aperiodic sampling control strategy to achieve enhanced performance and robustness.
APPLIED MATHEMATICAL MODELLING
(2021)