scholarly journals Geometric L1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle

2019 ◽  
Vol 142 (3) ◽  
Author(s):  
Prasanth Kotaru ◽  
Ryan Edmonson ◽  
Koushil Sreenath
Keyword(s):  
Adaptive Control ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Reference Model ◽  
Adaptive Controller ◽  
Control Approach ◽  
L1 Adaptive Control ◽  
Attitude Tracking ◽  
Aerial Vehicle ◽  
L1 Adaptive Controller

Abstract In this paper, we study the quadrotor unmanned aerial vehicle (UAV) attitude control on special orthogonal group (SO(3)) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise attitude tracking in the presence of disturbances and uncertainties. However, it is well known that dynamical models and controllers that use Euler angle representations are prone to singularities and typically have smaller regions of attraction while quaternion representations are subject to the unwinding phenomenon. To avoid such complexities, we present a geometric L1 adaptation control law to estimate the uncertainties. A model reference adaptive control approach is implemented, with the attitude errors between the quadrotor model and the reference model defined on the manifold. Control laws for the quadrotor and reference models are developed directly on SO(3) to track the desired trajectory while rejecting the uncertainties. Control Lyapunov function-based analysis is used to show the exponential input-to-state stability of the attitude errors. The proposed L1 adaptive controller is validated using numerical simulations. Preliminary experimental results are shown comparing a geometric proportional-derivative controller to the geometric L1 adaptive controller. Experimental validation of the proposed controller is carried out on an Autel X-star quadrotor.

L1 adaptive dynamic inversion attitude control for unmanned aerial vehicle with actuator failures

2018 ◽  
Vol 233 (11) ◽  
pp. 4129-4140
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Xiaojun Duan
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Dynamic Inversion ◽  
Actuator Faults ◽  
Actuator Failures ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
L1 Adaptive Controller

This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered. Firstly, dynamic inversion is employed to track attitude angles in the outer loop and ensures the rapid response. Secondly, an L1 adaptive controller for the inner loop is established to compensate for system uncertainty and uncertainty caused by actuator failures. Thirdly, the analysis of steady-state and transient performance is given by Lyapunov theory. Finally, simulation results prove the effectiveness of the proposed approach.

scholarly journals Adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle

2018 ◽  
Vol 234 (10) ◽  
pp. 1587-1596
Author(s):  
G Bressan ◽  
A Russo ◽  
D Invernizzi ◽  
M Giurato ◽  
S Panza ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Attitude Control System ◽  
Loop Dynamics ◽  
The Standard Model ◽  
Aerial Vehicle ◽  
Adaptation Law ◽  
Model Reference Adaptive

In this paper, the adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle is considered. The proposed approach allows to combine a baseline controller with an adaptive one and to disable or enable the adaptive controller when needed, in order to take the advantages of both the controllers. To improve transient performance with respect to the standard model reference adaptive controller, an observed-based approach is exploited. The adaptation law is based on the error between the output of an observer of the nominal closed-loop dynamics and the actual output of the system with uncertainties. Experimental results obtained by testing the proposed approach on a quadrotor unmanned aerial vehicle are presented to compare the performance, in terms of disturbance rejection, with respect to the baseline controller and to a [Formula: see text] adaptive augmentation scheme.

L1 neural network adaptive fault-tolerant controller for unmanned aerial vehicle attitude control system

2021 ◽  
pp. 095441002098409
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Jing Li
Keyword(s):  
Neural Network ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Attitude Control System ◽  
Attitude Tracking ◽  
Nonlinear Uncertainties ◽  
Aerial Vehicle

In this article, a L1 neural network adaptive fault-tolerant controller is exploited for an unmanned aerial vehicle attitude control system in presence of nonlinear uncertainties, such as system uncertainties, external disturbances, and actuator faults. A nonlinear dynamic inversion controller with sliding mode control law is designed as the outer-loop controller to track the attitude angles quickly and accurately which reduces dependence on model accuracy. A L1 neural network adaptive controller of the inner loop is introduced to compensate the nonlinear uncertainties and have a good attitude tracking. The radial basis function neural network technique is introduced to approximate a lumped nonlinear uncertainty and guarantee the stability and transient performance of the closed-loop system, instead of converting it to a half-time linear system by the parametric linearization method. Simulation results demonstrate the effectiveness of the proposed controller.

Adaptive Control for Uncertain Hysteretic Systems

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Xiaotian Zou ◽  
Jie Luo ◽  
Chengyu Cao
Keyword(s):  
Adaptive Control ◽  
Linear Time ◽  
Adaptive Controller ◽  
Time Varying ◽  
Performance Bounds ◽  
L1 Adaptive Control ◽  
Hysteretic Systems ◽  
Time Varying Parameters ◽  
L1 Adaptive Controller ◽  
Uniformly Bounded

This paper presents an approach to use the L1 adaptive controller for a class of uncertain systems in the presence of unknown Preisach-type hysteresis in input, unknown time-varying parameters, and unknown time-varying disturbances. The hysteresis operator can be transformed into an equivalent linear time-varying (LTV) system with uncertainties, which means that the effect of the hysteresis can be considered as general uncertainties to the system. Without constructing the inverse hysteresis function, the L1 adaptive control is used to handle the uncertainties introduced by the hysteresis, as well as system dynamics. The adaptive controller presented in this paper ensures uniformly bounded transient and tracking performance for uncertain hysteretic systems. The performance bounds can be systematically improved by increasing the adaptation rate. Simulation results with Preisach-type hysteresis are provided to verify the theoretical findings.

scholarly journals Design of L1 Adaptive Controller for Position Control of Permanent Magnet Linear Synchronous Motor (PMLSM)

2018 ◽  
pp. 39-52
Keyword(s):  
Adaptive Control ◽  
Permanent Magnet ◽  
Position Control ◽  
Adaptive Controller ◽  
Servo Motor ◽  
Model Reference ◽  
L1 Adaptive Control ◽  
Asymptotic Tracking ◽  
L1 Adaptive Controller ◽  
Model Reference Adaptive

In the present work, the design of an L1 adaptive controller for position control of a linear servo motor for X-Y table application has been developed. The AC Permanent Magnet Linear Synchronous Servo Motor (PMLSM) is considered. A comparative study between L1 adaptive control and Model Reference Adaptive Control (MRAC) has been made. The effectiveness of the L1 adaptive controller against uncertain parameters is analyzed based on simulated results. Robustness characteristics of both L1 adaptive controller and model reference adaptive controller to different input reference signals and different structures of uncertainty have been evaluated. The L1-adaptive controller could ensure uniformly bounded transient and asymptotic tracking for input and output signals. Simulations based on MATLAB of an x-y table based on PMLSM with time-varying friction and disturbance are presented to verify the theoretical findings. The simulation results within the environment of MATLAB/SIMULINK showed that L1-adaptive controller could give better tracking performance, dynamic and steady-state characteristics, than that obtained from MRAC for considered types of input and for various structures of uncertainties.

scholarly journals Simple Adaptive Control With an Adaptive Anti-Windup Compensator for the Unmanned Aerial Vehicle Attitude Control

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 52323-52332
Author(s):  
Wendong Gai ◽  
Yecheng Zhou ◽  
Maiying Zhong ◽  
Chunyang Sheng ◽  
Jing Zhang
Keyword(s):  
Adaptive Control ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Aerial Vehicle

Output feedback observer-based dynamic surface controller for quadrotor UAV using quaternion representation

2016 ◽  
Vol 231 (14) ◽  
pp. 2537-2548 ◽  
Author(s):  
Jingxin Dou ◽  
Xiangxi Kong ◽  
Xiaozhe Chen ◽  
Bangchun Wen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Output Feedback ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Attitude Tracking ◽  
Uncertain Disturbances ◽  
Aerial Vehicle ◽  
System Output ◽  
Quaternion Representation

An output feedback observer-based dynamic surface controller is presented for attitude tracking problem of the quadrotor unmanned aerial vehicle, which is subject to measurement noise and external disturbances. The dynamics model of the quadrotor unmanned aerial vehicle is firstly introduced with the quaternion representation. Subsequently, a nonlinear augmented observer is introduced for simultaneously estimating the unavailable states and uncertain disturbances from the measurement of system output. The output feedback controller based on the nonlinear augmented observer is designed with the dynamic surface control technique. The Lyapunov stability analysis shows that the attitude tracking performance is ensured and all signals of the closed-loop system remain bounded. Finally, simulative and experimental results are carried out to illustrate, compared with other observer-based controller, the effectiveness of the proposed method is better.

L1 Adaptive Control for Aircraft Air Management System Pressure-Regulating Bleed Valve

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
John Cooper ◽  
Chengyu Cao ◽  
Jiong Tang
Keyword(s):  
Management System ◽  
Control Valve ◽  
Pressure Control ◽  
Adaptive Controller ◽  
System Model ◽  
Flow Control Valve ◽  
L1 Adaptive Control ◽  
System Pressure ◽  
L1 Adaptive Controller ◽  
Linear Controllers

This paper presents an L1 adaptive controller for pressure control using an engine bleed valve in an aircraft air management system (AMS). The air management system is composed of two pressure-regulating bleed valves, a temperature control valve, a flow control valve, and a heat exchanger/precooler. Valve hysteresis due to backlash and dry friction is included in the system model. The nonlinearities involved in the system cause oscillations under linear controllers, which decrease component life. This paper is the unique in the consideration of these uncertainties for control design. This paper presents simulation results using the adaptive controller and compares them to those using a proportional–integral (PI) controller.

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