Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics

2021 ◽  
Author(s):  
Kanishke Gamagedara ◽  
Taeyoung Lee
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Position Tracking ◽  
Control Input ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Adaptive Controls ◽  
Local Coordinates ◽  
Aerial Vehicle ◽  
The One

Abstract This paper presents a geometric adaptive position tracking control system for a quadrotor unmanned aerial vehicle. In particular, the attitude control system is designed on the product of the two-dimensional unit sphere and the one-dimensional circle such that the direction of the thrust that is critical for position tracking is controlled independently from the yawing direction that is irrelevant to the position dynamics. Compared against the prior work with coupled attitude controls on the special orthogonal group, the proposed controller prevents large yaw errors from causing an undesirable performance degradation in tracking a position command. Further, the control input is augmented with adaptive control terms to mitigate the effects of disturbances, and it is formulated globally on the spheres to avoid singularities and complexities of local coordinates. The efficacy of the proposed control system is illustrated by both numerical examples and indoor/outdoor flight experiments.

scholarly journals Development of attitude control system for hybrid airship vehicle

2018 ◽  
Vol 7 (4.13) ◽  
pp. 99
Author(s):  
Azizi Malek ◽  
M F Sedan ◽  
A S M Harithuddin
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Pid Controller ◽  
Control Mechanism ◽  
Attitude Control System ◽  
Flight Tests ◽  
Aerial Vehicle ◽  
The Mathematical Model ◽  
Monitoring Software ◽  
Acquisition Method

This paper documents and presents the development of attitude control system of Hybrid Airship Unmanned Aerial Vehicle (HAU) that should be able to change its attitude condition based on the response processed from the provided input. This is accomplished by data acquisition method that retrieves data from a flight controller and processes it into the control system without looking in deep on the mathematical model of the airship. Besides that, PID controller is used in order to create a good stable response for the hybrid airship. A working hybrid airship prototype was successfully developed and built, which is five meters in length and has four propellers that is symmetrically distanced to each other. A quadcopter attitude control mechanism is adopted into the hybrid airship to allow for good hovering capability and direct pure attitude control. Outdoor flight tests have been conducted to prove its stability in responding to attitude input given to the hybrid airship attitude controller. A data monitoring software is also written to make the data observation on the behaviour of the hybrid airship response to be easier and understandable. Result demonstrates that the hybrid airship does response to pitch, roll and yaw input from the operator, albeit the lack response stability and speed which can be improved in conservative continuation of research on the airship attitude control system.  

scholarly journals Assessment of the Quality of the IDT Elemental Observations

1992 ◽  
Vol 9 ◽  
pp. 414-414
Author(s):  
M.A.C. Perryman
Keyword(s):  
Control System ◽  
Data Analysis ◽  
Attitude Control ◽  
Angular Separation ◽  
Attitude Control System ◽  
Phase Measurements ◽  
One Dimensional ◽  
The One ◽  
Comparison Of The Results

AbstractThe quasi-simultaneous measurement of the one-dimensional angular separation of stars on the sky, on both small and large angular scales, rely on the measurements made by the IDT detector, as well as on inputs from the star mapper and attitude control system. This presentation will concentrate on the results of a comparison of the results of the IDT data processing carried out by the FAST and NDAC data analysis teams. The extent to which the intensity and phase measurements agree between the two reductions, and the extent to which the differences are consistent with expected photon noise errors, will be illustrated.

Attitude Controller Design of Multiple Independently Targeted Reentry Vehicle Based on Internal Model Control

2013 ◽  
Vol 462-463 ◽  
pp. 809-814
Author(s):  
Fei Zhao ◽  
Fan Li ◽  
Jian Hui Zhao
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Internal Model ◽  
Internal Model Control ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Reentry Vehicle ◽  
Model Control ◽  
Internal Model Controller ◽  
Attitude Controller

A Multiple Independently Targeted Reentry Vehicle (MIRV) is a ballistic missile payload containing several warheads each capable of hitting one of a group of targets. In the process of missile flight control, the release of warheads brings about coupling to the missile attitude control system which will lower the flight stability. In order to solve this problem, a missile attitude controller, which combined the α-order integral inverse system with internal model principle, was presented. Firstly, determine the Post Boost Vehicle (PBV) attitude dynamics model. Then, combine the linearization of attitude dynamics equation with feed-forward decoupling method to implement the attitude decoupling. Finally, a two-degree of freedom (TOF) multivariable internal model controller was set up to optimize the control system performance. Simulation results show that the coupling of attitude control system has been eliminated. Compared with the original system, the internal model controller provides the control system better input-tracking performance, robust stability and interference suppression capacity.

scholarly journals Nonlinear suboptimal attitude control law for near-space hypersonic vehicle: Eigenvalue analysis and weight matrices design

2022 ◽  
Author(s):  
Peichao Mi ◽  
Qingxian Wu ◽  
Yuhui Wang
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Attitude Control ◽  
Stable Manifold ◽  
Closed Loop ◽  
Suboptimal Control ◽  
Control Law ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Near Space

Abstract This paper considers a nonlinear suboptimal control problem for a near-space hypersonic vehicle's (NSHV's) attitude dynamics. The least-square and stable manifold methods first solve an unconstrained approximately optimal control law corresponding to the nonlinear attitude model. Then, to further meet the dynamic performance requirement of the attitude control system, a novel strategy based on the Koopman operator, symplectic geometric theory, and the stable manifold theorem is proposed to approximate the eigenvalues of the closed-loop nonlinear unconstrained approximated optimal control system. The weight matrices in the optimal performance index, which directly determine the output responses of the nonlinear attitude dynamics, can be appropriately designed according to the eigenvalues. The final control law considers the actuator constraints. The NSHV's closed-loop attitude control system is proved to be locally exponentially stable, and the suboptimality of the control law is analyzed. Numerical simulation demonstrates the effectiveness of the proposed scheme.

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.

scholarly journals Science Observations with the IUE Using the One Gyro Mode

1990 ◽  
Vol 123 ◽  
pp. 517-520
Author(s):  
C. Imhoff ◽  
R. Pitts ◽  
R. Arquilla ◽  
C. Shrader ◽  
M. Perez ◽  
...  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
European Space Agency ◽  
Attitude Control System ◽  
Sun Sensor ◽  
Space Agency ◽  
Current Attitude ◽  
International Ultraviolet Explorer ◽  
The One ◽  
Science Instrument

AbstractThe International Ultraviolet Explorer (IUE) is a geosynchronous orbiting telescope launched by the National Aeronautics and Space Administration (NASA) on January 26, 1978, and operated jointly by NASA and the European Space Agency. The science instrument consists of two spectrographs which span the wavelength range of 1150 to 3200 Å and offer two dispersions with resolutions of 6 Å and 0.2 Å. The spacecraft’s attitude control system originally included an inertial reference package containing 6 gyroscopes for 3-axis stabilization. The science instrument includes a prime and redundant Field Error Sensor (FES) camera for target aquisition and offset guiding. Since launch, 4 of the 6 gyroscopes have failed. The current attitude control system utilizes the remaining 2 gyros and a Fine Sun Sensor (FSS) for 3-axis stabilization. When the next gyro fails, a new attitude control system will be uplinked which will rely on the remaining gyro and the FSS for general 3-axis stabilzation. In addition to the FSS, the FES cameras will be required to assist in maintaining fine attitude control during target aquisition. This has required thoroughly determining the characteristics of the FES cameras and the spectrograph aperture plate as well as devising new target acquisition procedures. The results of this work are presented.

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.

scholarly journals Modelling the attitude dynamics of small spacecraft with a magnetic attitude control system in three-axis stabilization mode

2019 ◽  
Vol 488 (4) ◽  
pp. 377-382
Author(s):  
V. M. Kulkov ◽  
Yu. G. Egorov ◽  
S. O. Firsyuk ◽  
V. V. Terentyev ◽  
A. O. Shemyakov
Keyword(s):  
Magnetic Field ◽  
Mathematical Model ◽  
Control System ◽  
Attitude Control ◽  
Control Law ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Small Spacecraft ◽  
Magnetic Attitude Control ◽  
System Movement

The problem of modeling the attitude-control modes of small spacecraft with the use of electromagnetic systems, interacting with the Earths magnetic field is considered. A small spacecraft angular motion mathematical model is developed. A control law for magnetic attitude control system of small spacecraft is formulated. Results of satellite with magnetic attitude control system movement numerical modelling are presented.

scholarly journals Nonlinear suboptimal attitude control law for near-space hypersonic vehicle: Eigenvalue analysis and weight matrices design

2021 ◽  
Author(s):  
Peichao Mi ◽  
Qingxian Wu ◽  
Yuhui Wang
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Attitude Control ◽  
Stable Manifold ◽  
Closed Loop ◽  
Suboptimal Control ◽  
Control Law ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Near Space

Abstract This paper considers a nonlinear suboptimal control problem for a near-space hypersonic vehicle's (NSHV's) attitude dynamics. The least-square and stable manifold methods first solve an unconstrained approximately optimal control law corresponding to the nonlinear attitude model. Then, to further meet the dynamic performance requirement of the attitude control system, a novel strategy based on the Koopman operator, symplectic geometric theory, and the stable manifold theorem is proposed to approximate the eigenvalues of the closed-loop nonlinear unconstrained approximated optimal control system. The weight matrices in the optimal performance index, which directly determine the output responses of the nonlinear attitude dynamics, can be appropriately designed according to the eigenvalues. The final control law considers the actuator constraints. The NSHV's closed-loop attitude control system is proved to be locally exponentially stable, and the suboptimality of the control law is analyzed. Numerical simulation demonstrates the effectiveness of the proposed scheme.

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