scholarly journals Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Zain Anwar Ali ◽  
Daobo Wang ◽  
Suhaib Masroor ◽  
M. Shafiq Loya
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Fuzzy Logic Controller ◽  
Kinematic Model ◽  
Nonlinear Behavior ◽  
Pole Placement ◽  
Hybrid Scheme ◽  
Hybrid Controller ◽  
Aerial Vehicle ◽  
6 Degrees Of Freedom

The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6 degrees of freedom (DOF); that is why the stabilization of aerial vehicle is a difficult task. To stabilize the nonlinear behavior of our UAV, an adaptive hybrid controller algorithm is used, in which RST controller tuning is performed by adaptive gains of fuzzy logic controller. Simulated results show that fuzzy based RST controller gives better robustness as compared to the classical RST controller.

scholarly journals Robust Hybrid Control Algorithm for Tuning the Altitude and Attitude of Unmanned Aerial Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Bohang Wang ◽  
Daobo Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Hybrid Control ◽  
Pole Placement ◽  
Robust Controller ◽  
State Behavior ◽  
Nonlinear Parameters ◽  
Six Degrees Of Freedom ◽  
Aerial Vehicle

In this article, a new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). The quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. The robust hybrid control algorithm consists of H∞ based regulation, pole-placement and tracking (RST) controller along with mixed sensitivity function is applied to control the complete model of UAV. The selected rotor craft is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. Moreover, the performance of the designed controller is compared with robust controller. The validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller.

Modeling and Controlling the Dynamic Behavior of an Aerial Manipulator

2021 ◽  
pp. 2150044
Author(s):  
Zain Anwar Ali ◽  
Li Xinde
Keyword(s):  
Dynamic Behavior ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Mechanism ◽  
Hybrid Control ◽  
External Noise ◽  
Pole Placement ◽  
Aerial Manipulator ◽  
Aerial Vehicle ◽  
Model Reference Adaptive

Unmanned Aerial Vehicles (UAVs) installed with a gripper is an effective and robust way to grab the wanted object from inaccessible locations. In this study, we develop a novel control mechanism to regulate the nonlinear dynamics of the aerial manipulator. In this research, hex-rotor UAV is chosen in order to fulfill the mission requirement in terms of size and weight of the object. It is equipped with a manipulator and the gimbal-based camera that will help to see the desired object and then transport it. The aerial vehicle has six-degrees-of-freedom (6-DOF) and the installed manipulator has 4-DOF which in total makes the 10-DOF aerial manipulator vehicle. At the time of clutching the desired object to eliminate or reduce the external noise, and stabilize the dynamic behavior of the aerial manipulator, we need a robust and efficient controller. To solve the aforementioned problems, this study develops a hybrid control mechanism that tracks and controls the altitude and attitude of UAV after clutching the desired object. The main contribution of this study is to design a control mechanism that includes Model Reference Adaptive Control with an Integrator (MRACI) in conjunction with regulation, pole-placement and tracking (RST) control algorithm. On one hand, the simulation results using MATLAB demonstrate the efficiency of the proposed control mechanism. On the other hand, to cross verify the validity of the proposed control algorithm, we perform the experiment by clutching the desired object at hovering and normal flight operation.

Jacobian approach to the kinestatic analysis of a full vehicle model with application to cornering motion analysis

2020 ◽  
Vol 234 (18) ◽  
pp. 3543-3559
Author(s):  
Guofeng Zhou ◽  
Junwoo Kim ◽  
Yong Je Choi
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Kinematic Chain ◽  
Contact Model ◽  
Vehicle Body ◽  
Spatial Parallel Mechanism ◽  
6 Degrees Of Freedom ◽  
Instantaneous Screw

The Jacobian approach to the kinestatic analysis of a planar suspension mechanism has been previously presented. In this paper, the theory is extended to three-dimensional kinestatic analysis by developing a full kinematic model and viewing it as a spatial parallel mechanism. The full kinematic model consists of two pairs of the front (double wishbone) and rear (multi-link) suspension mechanisms together with a newly developed ground-wheel contact model. The motion of each wheel of four suspension mechanisms is represented by the corresponding instantaneous screw at any instant. A vehicle is considered to be a 6-degrees-of-freedom spatial parallel mechanism whose vehicle body is supported by four serial kinematic chains. Each kinematic chain consists of a virtual instantaneous screw joint and a kinematic pair representing ground-wheel contact model. The kinestatic equation of the 6-degrees-of-freedom spatial parallel mechanism is derived in terms of the Jacobian. As an important application, a cornering motion of a vehicle is analysed under the assumption of steady-state cornering. A numerical example is presented to illustrate how to determine the optimal locations of strut springs for the least roll angle in cornering motion using the proposed method.

scholarly journals Applied LPV Control with Full Block Multipliers and Regional Pole Placement

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
Alejandro S. Ghersin ◽  
Ricardo S. Sánchez Peña
Keyword(s):  
Flight Control ◽  
Degrees Of Freedom ◽  
Space Vehicle ◽  
Point Of View ◽  
Pole Placement ◽  
Hardware In The Loop ◽  
Closed Loop Systems ◽  
Lpv Control ◽  
6 Degrees Of Freedom ◽  
Regional Pole Placement

A formulation of an LPV control problem with regional pole placement constraints is presented, which is suitable for the application of a Full Block S-Procedure. It is demonstrated that improved bounds can be obtained on the inducedL2norm of closed loop systems, while satisfying pole placement constraints. An application consisting in the 6 degrees of freedom (DOF) control of a space vehicle is developed as an example, with hardware in the loop (HIL) simulation. This shows that the method is appealing from the practical point of view, considering that the synthesized control law can be implemented satisfactorily in standard flight control systems. Conclusions with remarks towards the practical use of the method are presented as well.

BATMAV: Development and Testing of a SMA-Based Bio-Inspired Flapping Platform

2010 ◽  
Author(s):  
Gheorghe Bunget ◽  
Stefan Seelecke
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Biologically Inspired ◽  
Joint Rotation ◽  
Systematic Analysis ◽  
Trailing Edges ◽  
Aerial Vehicle ◽  
Kinematic Models ◽  
Bat Wing ◽  
Thrust Forces

The overall objective of the BATMAV project is the development of a biologically-inspired Micro Aerial Vehicle (MAV) with flexible and foldable wings for flapping flight. This paper presents a platform that features bat-inspired wings which are able to mimic the folding motion of the elbow and wrist joints of the natural flyer. This flapping platform makes use of the dual roll of the Shape Memory Alloys (SMA) to mimic the flexible joints and flapping muscles of the natural wings. The approach of this project was to learn from the natural flyer through a systematic analysis of their flight and to mimic their flapping mechanisms. A systematic study of the bat flight kinematics helped to identify the required joint angles as relevant degrees of freedom for wing actuation. Kinematic models of wings with 2 and 3-DOFs have been developed with the intention of mimicking the wing trajectories of the natural flier Plecotus auritus. A further kinematic model for the joint rotation angle has been developed in order to determine the attachment locations of SMA ‘muscle-wires’ as well as their routes along the wing ‘bones’. As part of this study individual elbow-joint systems were designed, fabricated and used to experimentally validate the above model’s prediction. The elastic skin membrane of the bat wing has been reproduced using a thin-film silicon membrane which has been suitably prestrained and shaped to mimic the leading and trailing edges of the bat wing. To measure the aerodynamic forces developed by the flapping platform, a test stand consisting of two load cells was assembled, and the dynamic tests were performed for a 2-DOF flapping wings. The lift and thrust forces as well as the flapping amplitude were measured.

Development of a novel 6-DOF hybrid serial-parallel mechanism for pose adjustment of large-volume components

2021 ◽  
pp. 095440622110263
Author(s):  
Shiwei Liu ◽  
Yu Sun ◽  
Gaoliang Peng ◽  
Yuan Xue ◽  
Anna Hnydiuk-Stefan ◽  
...  
Keyword(s):  
Large Volume ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Hybrid Mechanism ◽  
Spatial Parallel Mechanism ◽  
Hybrid Manipulator ◽  
Automated Docking ◽  
6 Degrees Of Freedom

In this paper, a novel 6-degrees-of-freedom (DOF) hybrid mechanism is proposed to realize position and posture adjusting for large-volume equipment. The designed hybrid manipulator is composed of the lower and upper modules, namely, a 3-DOF redundant spatial parallel mechanism (SPM) and a 3-DOF planar parallel mechanism (PPM), which has three rotational and three translational DOFs. According to the step-by-step pose adjusting strategy, the kinematics analyses of the lower and upper modules have been carried out systematically. For the whole hybrid mechanism, a complete kinematic model has been established; and visualized workspace of the kinematic model with regular shape and large volume demonstrates profound application prospects in engineering. In order to evaluate the performance of the proposed mechanism, experimental tests have been conducted in an automated docking system for pose adjustment of large and heavy components. The analysis results demonstrate the effectiveness and practicability of the new mechanism.

Design and Experimental Results of a Quad-Rotor Control System

2013 ◽  
Vol 284-287 ◽  
pp. 1799-1805
Author(s):  
Tae Sam Kang ◽  
Gi Gun Lee ◽  
Jung Hwan Kim
Keyword(s):  
Nonlinear Dynamics ◽  
Control System ◽  
Linear Model ◽  
Attitude Control ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Aerial Vehicle ◽  
Attitude Controller ◽  
Rotor Control

Multi-rotor is one of the emerging Unmanned Aerial Vehicle platforms. This paper covers the design, fabrication, modeling and testing of a quad-rotor control system. To take into account the salient nonlinearities, a model with six degrees of freedom nonlinear dynamics and some linear approximation of the aerodynamic part are used when extracting a linear model and designing a attitude controller. We obtained a linear model from experimental data using system identification method and developed attitude control algorithm. The control algorithm was realized using an on a board microprocessor and verified through experiment in real environment.

scholarly journals Leader-Follower Multimotor Speed Coordination via Adaptive Fuzzy Multiagent Consensus Scheme

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Suhaib Masroor ◽  
Chen Peng ◽  
Eman H. Alkhammash
Keyword(s):  
Fuzzy Logic Controller ◽  
Cross Coupling ◽  
Adaptive Controller ◽  
Consensus Algorithm ◽  
Pole Placement ◽  
Hybrid Controller ◽  
Simulation Purpose ◽  
Pole Placement Controller ◽  
Model Reference Adaptive ◽  
Belt System

Coordinated speed of interconnected motors has vast application in the industry. Typically, the smooth operation of the system relies on the coordinated speed of the multiple motors such as the conveyer belt system. Thus, the problem to have coordinated speed in a network-connected motor is mostly dealt with wire-connected architectures such as cross coupling. The presented study suggests a unique design to deal with the said problem by proposing a network model consisting of a DC chopper drive, termed as an ith agent of a network, while a leader-follower multiagent consensus algorithm is used, in a supervisory role, to ensure coordinated speed. Moreover, a hybrid controller (Fuzzy MRAC-RST), composed of Fuzzy logic controller, pole placement controller (F-RST), along with model reference adaptive controller (MRAC), is used to control the ith agent. The proposed hybrid controller along with MAS consensus algorithm forms an adaptive tracking performance and ensure coordinated speed. The MATLAB platform is used for simulation purpose, and the obtained results validate the design concept.

Control Architecture and Control Laws Design for Multiple UAVs Formation Flight

2012 ◽  
Vol 246-247 ◽  
pp. 853-857
Author(s):  
Guang Lei Meng
Keyword(s):  
Degrees Of Freedom ◽  
Formation Flight ◽  
Control Architecture ◽  
Mathematical Representation ◽  
Control Laws ◽  
Multiple Uavs ◽  
Finite State ◽  
Aerial Vehicle ◽  
6 Degrees Of Freedom ◽  
And Control

An autonomous formation-flight method for multiple UAVs (Unmanned Aerial Vehicle) was designed. First the mathematical representation of formation shape was analyzed. Then the control architecture was devised for multiple UAVs formation flight based on finite state machine. The flight states of the wing UAV were built through the formation flight and the transformation relationships of these flight states were defined. So the automated transformation among these flight states could be achieved and the intelligence of the pilots could be mimicked by this way. Aiming at the typical flight state which is capable of maintaining the formation shape, the control laws were contrived for the wing UAVs. Finally, two nonlinear fighter models which have 6 degrees of freedom were selected to carry out autonomous formation-flight experiments. And the results show the control laws designed for maintaining the formation shape are valid.

scholarly journals Dynamic Models of Unmanned Aerial Vehicle Manipulator Control and Stabilization

2021 ◽  
Vol 24 (4) ◽  
pp. 200-216
Author(s):  
V. V. Nguyen ◽  
E. E. Usina
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Control Method ◽  
Kinematic Model ◽  
Acceptable Result ◽  
Manipulation System ◽  
Aerial Vehicle ◽  
Manipulator Control

Purpose or research. Improving guidance accuracy of robotic capture mounted on an unmanned aerial vehicle and the stability of combined aerial manipulation system is the main objective of this study. In order to achieve this goal, a particular task of developing a manipulator control system that considers joint working space of manipulator and unmanned aerial vehicle has been solved. Methods. Kinematic model of a manipulator with three degrees of freedom is proposed in this work. This is a part of air manipulation system of quadrotor. Rotary movement of two successive links is performed by means of hinge joint. Direct and inverse kinematic tasks were solved for this manipulator. Equations for dynamic model were also obtained. Dynamic response of each link is sufficient for quick stabilization of the system with little re-adjustment. Self-tuning fuzzy proportional-integral-differentiating (PID) regulator was developed based on these data to control the manipulator. Control system for each manipulator link consists of a PID regulator and a fuzzy PID output using Mamdani method. Results. Simulation of developed manipulator control system was carried out in the absence of disturbances. The proposed control system satisfies specified requirements and ensures continuous and smooth movement of manipulator links in calculated trajectory. Conclusion. The developed three-link manipulator motion control method provides a horizontal mass center shift not more than 1.25 mm, which is an acceptable result for rapid stabilization of unmanned aerial manipulator and further practical experiments.

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