scholarly journals Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shouzhao Sheng ◽  
Chenwu Sun ◽  
Hong Zhao
Keyword(s):  
Adverse Effect ◽  
Adaptive Learning ◽  
Attitude Control ◽  
Tracking Error ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Adaptation Strategy ◽  
Ducted Fan ◽  
Attitude Tracking ◽  
Attitude Tracking Control

The present paper addresses an attitude tracking control problem of a ducted fan microaerial vehicle. The proposed indirect adaptive controller can greatly reduce tracking error in the initial stage of the adaptive learning process by using an error compensation strategy and can achieve good capability to eliminate the adverse effect of measurement noises on the convergence of adjustable parameters. Moreover, the learning rate adaptation strategy is proposed to further minimize the adverse effect of large learning rates on the convergence of adjustable parameters. The experimental tests have illustrated the effectiveness of the proposed adaptive controller.

scholarly journals A Nonlinear Second-order Spacecraft Attitude Tracking Control Model for Control System Stabilization

2018 ◽  
Vol 198 ◽  
pp. 05007
Author(s):  
Xiaoyi Wang
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Tracking Control ◽  
Angular Rate ◽  
Control Model ◽  
Second Order ◽  
Spacecraft Attitude ◽  
Order Model ◽  
Attitude Tracking ◽  
Attitude Tracking Control

A control model for the direct parameter approach for spacecraft attitude tracking is presented in this paper. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. A problem of control system stabilization is raised based on the control model. Compared with other control models, the second-order can offer the advantages of noapproximation and clear control states. The basic spacecraft control model has to focus on to the two variables which are angular rate and attitude quaternion, however, the new attitude control problem is only with respect to one variable which is the spacecraft attitude quaternion. Therefore, the second-order model is simpler and clear than basic first-order model.

Magnetic attitude tracking control of gravity gradient microsatellite in orbital transfer

2019 ◽  
Vol 123 (1269) ◽  
pp. 1881-1894
Author(s):  
Liang Sun ◽  
Zhiwen Wang ◽  
Guowei Zhao ◽  
Hai Huang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Gravity Gradient ◽  
Control Torque ◽  
Orbital Transfer ◽  
Attitude Tracking ◽  
Lyapunov Stability Analysis ◽  
Attitude Tracking Control ◽  
The Magnetic Field

ABSTRACTThe problem of the magnetic attitude tracking control is studied for a gravity gradient microsatellite in orbital transfer. The contributions of the work are mainly shown in two aspects: (1) the design of an expected attitude trajectory; (2) a method of the magnetic attitude tracking control. In orbital transfer, the gravity gradient microsatellite under a constant thrust shows complicated dynamic behaviours. In order to damp out the pendular motion, the gravity gradient microsatellite is subject to the the attitude tracking problem. An expected attitude trajectory is designed based on dynamic characteristics revealed in the paper, which not only ensures the flight safety of the system, but also reduces the energy consumption of the controller. Besides, the control torque produced by a magnetorquer is constrained to lie in a two-dimensional plane orthogonal to the magnetic field, so an auxiliary compensator is proposed to improve the control performance, which is different from existing magnetic control methods. In addition, a sliding mode control based on the compensator is presented, and the Lyapunov stability analysis is performed to show the global convergence of the tracking error. Finally, a numerical case of the gravity gradient microsatellite is studied to demonstrate the effectiveness of the proposed tracking control.

scholarly journals Reaction Wheel Installation Deviation Compensation for Overactuated Spacecraft with Finite-Time Attitude Control

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Aihua Zhang ◽  
Jianfei Ni ◽  
Hamid Reza Karimi
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Reaction Wheel ◽  
Compensation Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control

A novel attitude tracking control scheme is presented for overactuated spacecraft to address the attitude stabilization problem in presence of reaction wheel installation deviation, external disturbance and uncertain mass of moment inertia. An adaptive sliding mode control technique is proposed to track the uncertainty. A Lyapunov-based analysis shows that the compensation control law can guarantee that the desired attitude trajectories are followed in finite-time. The key feature of the proposed control strategy is that it globally asymptotically stabilizes the system, even in the presence of reaction wheel installation deviation, external disturbances, and uncertain mass of moment inertia. The attitude track performance using the proposed finite-time compensation control is evaluated through a numerical example.

scholarly journals Barrier Function-Based Adaptive Integral Sliding Mode Finite-time Attitude Control for Rigid Spacecraft

2021 ◽  
Author(s):  
Jie Wang ◽  
YuShang Hu ◽  
Wenqiang Ji
Keyword(s):  
Finite Time ◽  
Barrier Function ◽  
Attitude Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Initial Moment ◽  
Integral Sliding Mode ◽  
Attitude Tracking ◽  
Rigid Spacecraft ◽  
Attitude Tracking Control

Abstract This paper investigates the problem of the finite-time attitude tracking control for rigid spacecrafts with external disturbances and inertia uncertainties. Firstly, a finite-time approach is designed to achieve attitude tracking control of the rigid spacecraft in absence of disturbances and inertia uncertainties and the time of convergence can be chosen in advance. Then, the integral sliding mode combined with barrier function-based adaptive laws is proposed to reject the disturbances and inertia uncertainties, and at the same time, a barrier function-based adaptive method can also ensure the solutions of the rigid spacecraft system belonging to a stipulated vicinity of the intended variables starting from the initial moment and the uncertainties' upper bound is not overestimated. Finally, numerical simulation is provided to illustrate the efficiency of the proposed control protocol.

Robust Attitude Tracking Control for a Quadrotor Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Author(s):  
Jiguo Dai ◽  
Qi Lu ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Experimental Studies ◽  
Attitude Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Error Dynamics ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

scholarly journals Design of a Control System for an Organic Flight Array Based on a Neural Network Controller

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Bokyoung Oh ◽  
Junho Jeong ◽  
Jinyoung Suk ◽  
Seungkeun Kim
Keyword(s):  
Neural Network ◽  
Control System ◽  
Flight Control ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Model Inversion ◽  
Operational Conditions ◽  
Ducted Fan ◽  
Neural Network Controller ◽  
The Neural Network

This paper presents a flight control system for an organic flight array (OFA) with a new configuration consisting of multimodularized ducted-fan unmanned aerial vehicles. The OFA has a distinguished advantage of assembling or separating with respect to its missions or operational conditions because of its reconfigurable structure. Therefore, designing a controller that can be flexibly applied in each situation is necessary. First, a dynamic modeling of the OFA based on a single ducted-fan vehicle is performed. Second, the inner loop for attitude control is designed through dynamic model inversion and a PD controller. However, an adaptive control component is needed to flexibly cope with the uncertainty because the operating environment of the OFA is varied, and uncertainty exists depending on the number of modules to be assembled and disturbances. In addition, the performance of the neural network adaptive controller is verified through a numerical simulation according to two scenarios.

Adaptive Control for Steering Engine Fault of Ducted Fan UAV

2014 ◽  
Vol 602-605 ◽  
pp. 834-843
Author(s):  
An Huang ◽  
Zhong Xi Hou
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Attitude Control System ◽  
Model Reference ◽  
Ducted Fan ◽  
Model Reference Adaptive ◽  
The Impact ◽  
The Relationship ◽  
Good Attitude

For the steering engine fault of ducted fan UAV that may arise during the hovering, designing adaptive controller for attitude control. First, concentrating on modeling of the hovering state of ducted fan UAV, and getting the relationship between steering engine and attitude control. Then analyzing the impact of steering engine fault on the attitude control system basing on the control model. Finally, designing model reference adaptive controller basing on the fault model, so that the ducted fan UAV can maintain good attitude control if steering engine fault occurs during the hovering. Simulation results show that when steering engine fault occurs, the model reference adaptive controller can effectively inhibit the adverse effects brought by steering engine fault, so the attitude control system has strong adaptability and robustness.

scholarly journals Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3019
Author(s):  
Yibo Zhang ◽  
Bin Xu ◽  
Changle Xiang ◽  
Wei Fan ◽  
Tianfu Ai
Keyword(s):  
Controller Design ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Physical Interaction ◽  
The Novel ◽  
Interaction Control ◽  
Ducted Fan ◽  
Aerial Manipulator ◽  
Confined Environment

An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.

scholarly journals Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

2021 ◽  
Vol 11 (13) ◽  
pp. 5960
Author(s):  
José Fermi Guerrero-Castellanos ◽  
Sylvain Durand ◽  
German Ardul Munoz-Hernandez ◽  
Nicolas Marchand ◽  
Lorenzo L. González Romeo ◽  
...  
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

Robust Attitude Control of Quadrotor Vehicle via Extended State Observer

2013 ◽  
Vol 373-375 ◽  
pp. 1445-1448 ◽  
Author(s):  
Dang Jun Zhao ◽  
Bing Yan Jiang
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Attitude Tracking ◽  
Mode Method ◽  
Attitude Tracking Control ◽  
Feedback Control Strategy

Extended state observer (ESO) based output-feedback control strategy is proposed for the attitude control of a quadrotor aerial vehicle in this paper. By using ESO technique, the generalized disturbances are estimated from output signals. According to the sliding mode method, the attitude controller with disturbance compensations is proposed for the attitude tracking control of a quadrotor vehicle. The theoretical analysis reveals that all signals in the closed-loop system are ultimately uniformly bounded. The simulation results validate the efficiency of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document