Nonlinear Control with Adaptive Control Allocation for a Quadrotor with Tiltable Rotors

2017 ◽  
Author(s):  
Georg Scholz ◽  
Gert F. Trommer
Keyword(s):  
Adaptive Control ◽  
Nonlinear Control ◽  
Control Allocation

scholarly journals A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation

2018 ◽  
Author(s):  
Ozan Temiz ◽  
Melih Cakmakci ◽  
Yildiray Yildiz
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Stability Control ◽  
Steering Wheel ◽  
Slip Angle ◽  
Control Allocation ◽  
Control Input ◽  
Allocation Strategy ◽  
Virtual Control ◽  
Yaw Stability

This paper presents an integrated fault-tolerant adaptive control allocation strategy for four wheel frive - four wheel steering ground vehicles to increase yaw stability. Conventionally, control of brakes, motors and steering angles are handled separately. In this study, these actuators are controlled simultaneously using an adaptive control allocation strategy. The overall structure consists of two steps: At the first level, virtual control input consisting of the desired traction force, the desired moment correction and the required lateral force correction to maintain driver’s intention are calculated based on the driver’s steering and throttle input and vehicle’s side slip angle. Then, the allocation module determines the traction forces at each wheel, front steering angle correction and rear steering wheel angle, based on the virtual control input. Proposed strategy is validated using a non-linear three degree of freedom reduced two-track vehicle model and results demonstrate that the vehicle can successfully follow the reference motion while protecting yaw stability, even in the cases of device failure and changed road conditions.

scholarly journals Adaptive control allocation for constrained systems

Automatica ◽  
2020 ◽  
Vol 121 ◽  
pp. 109161
Author(s):  
Seyed Shahabaldin Tohidi ◽  
Yildiray Yildiz ◽  
Ilya Kolmanovsky
Keyword(s):  
Adaptive Control ◽  
Constrained Systems ◽  
Control Allocation

scholarly journals Adaptive control allocation

Automatica ◽  
2008 ◽  
Vol 44 (11) ◽  
pp. 2754-2765 ◽  
Author(s):  
Johannes Tjønnås ◽  
Tor A. Johansen
Keyword(s):  
Adaptive Control ◽  
Control Allocation
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