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.

scholarly journals Control robusto de la actitud para el seguimiento de trayectoria de un VANT

2020 ◽  
pp. 35-41
Author(s):  
Juan Diaz-Tellez ◽  
Jaime Estevez-Carreón ◽  
Alejandro Silva-Juárez ◽  
Rubén Senén García-Ramírez
Keyword(s):  
Disturbance Rejection ◽  
Tracking Control ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability ◽  
And Control

This paper proposes a robust attitude tracking control applied to Vertical Take-off and Landing Micro Aerial Vehicles (VANT) based on Active Disturbance Rejection Control (ADRC) approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, which is estimated online via extended state observer (ESO). Once the disturbance is determined, a quaternion-based controller is proposed, which compensates and relieves the disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators. The stability proof of the closed-loop (observer and control) is guaranteed in the ISS sense. The simulation results allow validating the theoretical features.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

Position and Attitude Tracking Control Law Design Using Geometric Algebra

2014 ◽  
Vol 602-605 ◽  
pp. 1113-1116
Author(s):  
Di Min Wu ◽  
Zhen Jing Li ◽  
Bin Li ◽  
Yu Xia Chen ◽  
Li Li
Keyword(s):  
Rigid Body ◽  
Geometric Algebra ◽  
Tracking Control ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Control Law ◽  
Proportional Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
The Stability

A position and attitude tracking control law is developed using geometric algebra (GA). The rigid body motion can be represented by the screw versor (or motor) in GA. Using the kinematics of the motor, the tracking control law of the rigid body motion can be formulated similar to the proportional control law. This paper provides a GA-based position and attitude tracking control law by using the negative feedback of the motor logarithm. The stability of the control law is validated by the numerical simulation.

scholarly journals Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach

2019 ◽  
Vol 2019 ◽  
pp. 1-15 ◽  
Author(s):  
Xing Fang ◽  
Yujia Shang
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Small Scale ◽  
Control Law ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Mismatched Disturbances

A novel continuous sliding mode control (CSMC) strategy based on the finite-time disturbance observer (FTDO) is proposed for the small-scale unmanned helicopters in the presence of both matched and mismatched disturbances. First, a novel sliding surface is designed based on the estimates of the mismatched disturbances and their derivatives obtained by the FTDO. Then, a continuous sliding mode control law is developed, which does not lead to any chattering phenomenon. Furthermore, the closed-loop helicopter system is proved to be asymptotically stable. Finally, the excellent hovering and tracking performance, as well as the powerful disturbance rejection capability of the proposed novel CSMC method, is validated by the simulation results.

scholarly journals Adaptive output feedback integral sliding mode attitude tracking control of spacecraft without unwinding

2017 ◽  
Vol 9 (7) ◽  
pp. 168781401771040 ◽  
Author(s):  
Anuchit Jitpattanakul ◽  
Chutiphon Pukdeboon
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Integral Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This article studies an output feedback attitude tracking control problem for rigid spacecraft in the presence of parameter uncertainties and external disturbances. First, an anti-unwinding attitude control law is designed using the integral sliding mode control technique to achieve accurate tracking responses and robustness against inertia uncertainties and external disturbances. Next, the derived control law is combined with a suitable tuning law to relax the knowledge about the bounds of uncertainties and disturbances. The stability results are rigorously proved using the Lyapunov stability theory. In addition, a new finite-time sliding mode observer is developed to estimate the first time derivative of attitude. A new adaptive output feedback attitude controller is designed based on the estimated results, and angular velocity measurements are not required in the design process. A Lyapunov-based analysis is provided to demonstrate the uniformly ultimately bounded stability of the observer errors. Numerical simulations are given to illustrate the effectiveness of the proposed control method.

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.

Stabilization of a rotating flexible structure subject to matched input disturbances

2019 ◽  
Vol 41 (10) ◽  
pp. 2864-2874
Author(s):  
Ya-Ping Guo ◽  
Jun-Min Wang
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Closed Loop ◽  
Torque Control ◽  
Flexible Structure ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The Stability

In this paper, we are concerned with nondissipative controllers design of a rotating flexible structure subject to boundary control matched disturbances. The active disturbance rejection control (ADRC) method is adopted to cancel the disturbances. Firstly, the time varying gain extend state observers (ESOs) are constructed to estimate the disturbances. Then, using estimates of uncertainties generated by ESOs, nondissipative torque control and shear control are designed for disk and beam respectively. Finally, when the angular velocity of the disk is less than the square root of the smallest natural frequency of the beam, we prove that the proposed controllers can ensure the stability of the closed-loop system in the sense that the disk can be rotated with the desired angular velocity and the beam can be stabilized. Moreover, simulation results are presented to illustrate the effectiveness of the control strategy.

Robust Attitude Control for Quadrotors Based on Parameter Optimization of a Nonlinear Disturbance Observer

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Shatadal Mishra ◽  
Todd Rakstad ◽  
Wenlong Zhang
Keyword(s):  
Flight Control ◽  
Attitude Control ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Control Unit ◽  
Nonlinear Disturbance Observer ◽  
Wave Disturbances ◽  
Active Disturbance Rejection ◽  
Exogenous Disturbances ◽  
Nonlinear Disturbance

This paper presents a nonlinear disturbance observer (NDOB) for active disturbance rejection in the attitude control loop for quadrotors. An optimization framework is developed for tuning the parameter in the NDOB structure, which includes the infinity-norm minimization of the weighted sum of noise-to-output transfer function and load disturbance sensitivity function. Subsequently, the minimization generates an optimal value of the parameter based on the tradeoff between disturbance rejection and noise propagation in the system. The proposed structure is implemented on PIXHAWK, a real-time embedded flight control unit. Simulation tests are carried out on a custom built, high-fidelity simulator providing physically accurate simulations. Furthermore, experimental flight tests are conducted to demonstrate the performance of the proposed approach. The system is injected with step, sinusoidal, and square wave disturbances, and the corresponding system tracking performance is recorded. Experimental results show that the proposed algorithm attenuates the disturbances better compared to just a baseline controller implementation. The proposed algorithm is computationally cheap, an active disturbance rejection technique and robust to exogenous disturbances.

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