scholarly journals Extreme Learning Machine Assisted Adaptive Control of a Quadrotor Helicopter

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Yu Zhang ◽  
Zheng Fang ◽  
Hongbo Li
Keyword(s):  
Extreme Learning Machine ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
System Modeling ◽  
External Disturbances ◽  
Neural Controller ◽  
Intelligent Controller ◽  
Quadrotor Helicopter ◽  
Learning Machine

Control of quadrotor helicopters is difficult because the problem is naturally nonlinear. The problem becomes more challenging for common model based controllers when unpredictable uncertainties and disturbances in physical control system are taken into account. This paper proposes a novel intelligent controller design based on a fast online learning method called extreme learning machine (ELM). Our neural controller does not require precise system modeling or prior knowledge of disturbances and well approximates the dynamics of the quadrotor at a fast speed. The proposed method also incorporates a sliding mode controller for further elimination of external disturbances. Simulation results demonstrate that the proposed controller can reliably stabilize a quadrotor helicopter in both agitated attitude and position control tasks.

Robust Adaptive Controller Design for a Quadrotor Helicopter

2013 ◽  
Vol 284-287 ◽  
pp. 2296-2300 ◽  
Author(s):  
Kuang Shine Yang ◽  
Chi Cheng Cheng
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Quadrotor Helicopter ◽  
Robust Adaptive

The quadrotor helicopter is designed to easily move in particular environments because it can take off and land in limited space and easily hover at a fixed location. For this reason, a robust adaptive sliding mode controller is developed to control of a quadrotor helicopter in the presence of external disturbances and parameter uncertainties. The quadrotor helicopter system is a typical underactuated system, which has fewer independent control actuators than degrees of freedom to be controlled. The main contribution here is to afford simulation and verification for the quadrotor helicopter flight controller under the assumption of unknown parameters. By utilizing the Lyapunov stability theorem, we can achieve asymptotic tracking of desired reference commands for the quadrotor helicopter, which is subject to both external disturbances and parametric uncertainties. From the simulation results, the controller was sufficient to achieve position and attitude control of the quadrotor helicopter system, which permits possible real time applications in the near future.

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

A fault-tolerant attitude tracking control of spacecraft using an anti-unwinding robust nonlinear disturbance observer

2019 ◽  
Vol 233 (16) ◽  
pp. 6005-6018 ◽  
Author(s):  
Syed Muhammad Amrr ◽  
M Nabi ◽  
Pyare Mohan Tiwari
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Simulation Analysis ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Actuator Faults ◽  
External Disturbances ◽  
Nonlinear Disturbance Observer ◽  
Attitude Tracking ◽  
Nonlinear Disturbance

This paper investigates the application of an integral sliding mode control with a robust nonlinear disturbance observer to obtain an anti-unwinding spacecraft attitude tracking response with robustness against external disturbances, inertia matrix uncertainties, and actuator faults. In the controller design, external disturbances, uncertainties, and actuator faults are lumped together and estimated by the robust nonlinear disturbance observer. The proposed robust nonlinear disturbance observer guarantees the convergence of estimated lumped disturbance error to origin in finite time. The estimated disturbance is then used in the controller as a feed-forward compensator. Further, an adaptive law is also incorporated in the proposed controller to ensure additional robustness. The stability of the overall system and anti-unwinding characteristic are proved using the Lyapunov stability theory. Finally, numerical simulation analysis is performed in the presence of all the sources of lumped disturbances. It is observed that the proposed control strategy is ensuring higher accuracy, good steady-state precision, and eliminates the unwinding phenomenon.

scholarly journals Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine

Symmetry ◽  
2019 ◽  
Vol 11 (12) ◽  
pp. 1444 ◽  
Author(s):  
Qian ◽  
Zhang ◽  
Wang ◽  
Wu
Keyword(s):  
Sliding Mode Control ◽  
Extreme Learning Machine ◽  
Control Method ◽  
Sliding Mode ◽  
Second Order ◽  
Mode Control ◽  
Learning Machine ◽  
Second Order Sliding Mode ◽  
Mode Formation ◽  
Formation Design

This paper addresses a second-order sliding mode control method for the formation problem of multirobot systems. The formation patterns are usually symmetrical. This sliding mode control is based on the super-twisting law. In many real-world applications, the robots suffer from a great diversity of uncertainties and disturbances that greatly challenge super-twisting sliding mode formation maneuvers. In particular, such a challenge has adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of an extreme learning machine to meet this challenge. Within the leader–follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the extreme learning machine. The output weights of this extreme learning machine are adaptively adjusted so that this integrated formation design has guaranteed closed-loop stability in the sense of Lyaponov. In the end, some simulations are implemented via a multirobot platform, illustrating the superiority and effectiveness of the integrated formation design in spite of uncertainties and disturbances.

The Leveling Position Control of a Four-Axial Active Pneumatic Isolation System Using PWM-Driving Parallel Dual-On/Off Valves

2011 ◽  
Vol 110-116 ◽  
pp. 3176-3183 ◽  
Author(s):  
Mao Hsiung Chiang ◽  
Hao Ting Lin
Keyword(s):  
Trajectory Tracking ◽  
Vibration Isolation ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Tracking Performance ◽  
Trajectory Tracking Control ◽  
Isolation System ◽  
Adaptive Sliding Mode Controller ◽  
Novel Concept

This study aims to develop a leveling position control of an active PWM-controlled pneumatic isolation table system. A novel concept using parallel dual-on/off valves with PWM control signals is implemented to realize active control and to improve the conventional pneumatic isolation table that supported by four pneumatic cushion isolators. In this study, the cushion isolators are not only passive vibration isolation devices, but also pneumatic actuators in active position control. Four independent closed-loop position feedback control system are designed and implemented for the four axial isolators. In this study, on/off valves are used, and PWM is realized by software. Therefore, additional hardware circuit is not required to implement PWM and not only cost down but also reach control precision of demand. In the controller design, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to deal with the uncertainty and time-varying problems of pneumatic system. Finally, the experiments on the pneumatic isolation table system for synchronous position and trajectory tracking control, including no-load and loading conditions, and synchronous position control with master-slave method, are implemented in order to verify that the controller for each cushion isolator can realize good position and trajectory tracking performance.

scholarly journals Robust Synchronization of Incommensurate Fractional-Order Chaotic Systems via Second-Order Sliding Mode Technique

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Hua Chen ◽  
Wen Chen ◽  
Binwu Zhang ◽  
Haitao Cao
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Controller Design ◽  
Sliding Mode ◽  
Second Order ◽  
External Disturbances ◽  
Globally Asymptotically Stable ◽  
Control Scheme ◽  
Chattering Free ◽  
Second Order Sliding Mode

A second-order sliding mode (SOSM) controller is proposed to synchronize a class of incommensurate fractional-order chaotic systems with model uncertainties and external disturbances. Based on the chattering free SOSM control scheme, it can be rigorously proved that the dynamics of the synchronization error is globally asymptotically stable by using the Lyapunov stability theorem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed controller design approach.

ADAPTIVE BACKSTEPPING SLIDING MODE CONTROLLER FOR FLIGHT SIMULATOR BASED ON RBFNN

2013 ◽  
Vol 04 (04) ◽  
pp. 1342007 ◽  
Author(s):  
YUNJIE WU ◽  
BAITING LIU ◽  
WULONG ZHANG ◽  
XIAODONG LIU
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Flight Simulator ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Base Function ◽  
System A ◽  
Radial Base Function

For flight simulator system, a kind of Adaptive Backstepping Sliding Mode Controller (ABSMC) based on Radial Base Function Neural Network (RBFNN) observer is presented. The sliding mode control theory is famous by its characteristic that it is insensitive to the external disturbances and parameters uncertainties. Combining this characteristic with Backstepping method can simplifies the controller design. And the addition of the terminal attractor can make the arrival time shorten greatly. However, too large external disturbances and parameters uncertainties are still not allowed to the system, and the design process of ABSMC does not have the upper bound information of disturbance until a RBFNN observer is designed to solve the problems. The simulation results show that the proposed scheme can improve the tracking precision and reduce the chattering of the control input, and the system has a higher robustness.

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

2016 ◽  
Vol 39 (3) ◽  
pp. 371-383 ◽  
Author(s):  
Alireza Modirrousta ◽  
Mahdi Khodabandeh
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Control Input ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Tuning Method ◽  
Regular Control ◽  
Control Scheme ◽  
Sliding Mode Controllers

This paper proposes two different adaptive robust sliding mode controllers for attitude, altitude and position control of a quadrotor. Firstly, it proposes a backstepping non-singular terminal sliding mode control with an adaptive algorithm that is applied to the quadrotor for free chattering, finite time convergence and robust aims. In this control scheme instead of regular control input, the derivative of the control input is achieved from a non-singular terminal second-layer sliding surface. An adaptive tuning method is utilized to deal with the external disturbances whose upper bounds are not required to be known in advance in the inner loop. Secondly, a nonlinear disturbance observer based on the integral sliding mode with adaptive gains is proposed for position control, which is known as the outer loop. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

Design and application of an adaptive backstepping sliding mode controller for a six-DOF quadrotor aerial robot

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1701-1727 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Control Approach ◽  
Mode Control ◽  
Aerial Robot ◽  
Six Dof

SUMMARYThe quadrotor aerial robot is a complex system and its dynamics involve nonlinearity, uncertainty, and coupling. In this paper, an adaptive backstepping sliding mode control (ABSMC) is presented for stabilizing, tracking, and position control of a quadrotor aerial robot subjected to external disturbances. The developed control structure integrates a backstepping and a sliding mode control approach. A sliding surface is introduced in a Lyapunov function of backstepping design in order to further improve robustness of the system. To attenuate a chattering problem, a saturation function is used to replace a discontinuous sign function. Moreover, to avoid a necessity for knowledge of a bound of external disturbance, an online adaptation law is derived. Particle swarm optimization (PSO) algorithm has been adopted to find parameters of the controller. Simulations using a dynamic model of a six degrees of freedom (DOF) quadrotor aerial robot show the effectiveness of the approach in performing stabilization and position control even in the presence of external disturbances.

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