scholarly journals Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

2019 ◽  
Vol 9 (18) ◽  
pp. 3873 ◽  
Author(s):  
Anh Tung Nguyen ◽  
Nguyen Xuan-Mung ◽  
Sung-Kyung Hong
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Technique ◽  
Control Input ◽  
Gravitational Acceleration ◽  
Control Performance ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
New Approach ◽  
Suitable Parameter

Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present a new approach for the design and stability analysis of a quadcopter adaptive trajectory tracking control. Based on the quadcopter nonlinear dynamics model which is obtained by using the Euler–Lagrange approach, the tracking controller is devised via the backstepping control technique. Besides, an adaptive law is proposed to deal with the system parameterized uncertainties and to guarantee that the control input is finite. In addition, the vehicle’s vertical descending acceleration is ensured to not exceed the gravitational acceleration by making use of a barrier Lyapunov function. It is shown that the suitable parameter estimator is stable and the tracking errors are guaranteed to be asymptotically stable simultaneously. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our method to that of existing approaches. The simulation results demonstrate the effectiveness of the proposed algorithm.

scholarly journals Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Mingyu Fu ◽  
Shuang Gao ◽  
Chenglong Wang
Keyword(s):  
Dynamic System ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Control Input ◽  
Input Constraints ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Trajectory Tracking Controller ◽  
Relationship Of ◽  
The Relationship

This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints. By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability. And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities. In view of the natural capabilities of actuators, the control input is constrained. High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks. The proposed controller guarantees the boundedness of all the closed-loop signals. Specifically, the tracking errors are uniformly ultimately bounded. Numerical simulations are implemented to demonstrate the efficacy of the designed controller.

scholarly journals Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation

2021 ◽  
Vol 13 (3) ◽  
pp. 168781402110042
Author(s):  
Guoguang Li ◽  
Boqiang Shi ◽  
Ruiyue Liu ◽  
Jie Gu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Virtual Work ◽  
Lyapunov Stability Theory ◽  
Tracking Errors ◽  
Robust Controller ◽  
Dynamic Compensation ◽  
Trajectory Tracking Control ◽  
Cone Crusher ◽  
Crushing Behavior

A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, the dynamic model including the mantle assembly and actuators is derived by Lagrange method according to the virtual work principle. In order to simulate the crushing behavior of cone crusher in the crushing chamber, the trajectory model of the mantle assembly is achieved by ADAMS. Then, a robust controller which contains the dynamic compensation is designed, and the convergence stability of the 6-DOF robotic crusher is strictly proved based on Lyapunov stability theory. Finally, the co-simulation is used to verify that the proposed controller can solve the problem of model uncertainties and external disturbances well. Meanwhile, numerical simulation results of the 6-DOF robotic crusher illustrate the proposed controller is able to effectively reduce the trajectory tracking errors compared with the computed torque controller.

scholarly journals Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

2019 ◽  
Vol 9 (23) ◽  
pp. 5184 ◽  
Author(s):  
Nguyen Xuan-Mung ◽  
Sung Kyung Hong
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Input Saturation ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Aerial Vehicles

Quadrotor unmanned aerial vehicles have become increasingly popular in several applications, and the improvement of their control performance has been documented in several studies. Nevertheless, the design of a high-performance tracking controller for aerial vehicles that reliably functions in the simultaneous presence of model uncertainties, external disturbances, and control input saturation still remains a challenge. In this paper, we present a robust backstepping trajectory tracking control of a quadrotor with input saturation. The controller design accounts for both parameterized uncertainties and external disturbances, whereas a new auxiliary system is proposed to cope with control input saturation. Taking into account that only the position and attitude of the quadrotor are measurable, we devise an extended state observer to supply the estimations of unmeasured states, model uncertainties, and external disturbances. We strictly prove the stability of the closed-loop system by using the Lyapunov theory and demonstrate the effectiveness of the proposed algorithm through numerical simulations.

A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2546-2565 ◽  
Author(s):  
Mario E. Serrano ◽  
Sebastián A. Godoy ◽  
Vicente A. Mut ◽  
Oscar A. Ortiz ◽  
Gustavo J. E. Scaglia
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Experimental Results ◽  
Tracking Errors ◽  
Simple Scheme ◽  
Trajectory Tracking Control ◽  
Control Actions ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

SUMMARYThis paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.

Trajectory tracking control of quadrotor under variable payloads with model-free controller and sliding mode control technology

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xu Zou ◽  
Zhenbao Liu ◽  
HongGang Gao ◽  
Wen Zhao
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Variable Load ◽  
Environmental Disturbance ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Model Free ◽  
Model Free Control

Purpose This study aims to deal with the problem of trajectory tracking control for the quadrotor under external environmental disturbance and variable payloads. Design/methodology/approach In the field of unmanned aerial vehicle (UAV) control, external environmental disturbance and internal variable payloads as two major interference factors lead to control performance degradation or even instability, thus a trajectory tracking controller which innovatively combines sliding mode control technology and model-free control technique is proposed. The proposed controller is constructed with a learning rate-based sliding mode controller and an ultra-local model. Based on the proposed controller, the nonlinear system model of variable load quadrotor is locally estimated and the system’s uncertainties and disturbances can be compensated. Findings The simulation and actual test results demonstrate the satisfactory control performance and the robustness of the proposed controller compared with the PID and Backstepping controller under external environmental disturbance and variable payloads. Moreover, the proposed controller solves the trajectory tracking control problem not only when payloads change at the center of gravity but also when the position of load variation deviates from the center of gravity. Practical implications In both military and civilian domains, the quadrotor may encounter such situations that the payloads change, such as transporting goods, aerial refueling and so on. As a large internal interference factor, variable load tends to lead to unstable control. The research results provide theoretical guidance and technical support for trajectory tracking control of quadrotor under variable payloads. Originality/value The proposed controller combines learning rate-based sliding mode controller and model-free control technique to achieve a more efficient and accurate trajectory control of the quadrotor when considering system uncertainties and the load variation that happens in the unknown location.

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