scholarly journals Attitude Control of a Quadcopter Using Adaptive Control Technique

2018 ◽  
Author(s):  
Ramiro Ibarra Pérez ◽  
Gerardo Romero Galvan ◽  
Aldo Jonathan Muñoz Vázquez ◽  
Silvia Florida Melo ◽  
David Lara Alabazares
Keyword(s):  
Adaptive Control ◽  
Attitude Control ◽  
Control Technique

Attitude Control of a Quadrocopter Using Adaptive Control Technique

2014 ◽  
Vol 598 ◽  
pp. 551-556
Author(s):  
R. Ibarra ◽  
S. Florida ◽  
W. Rodríguez ◽  
G. Romero ◽  
D. Lara ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Attitude Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Aerial Vehicle ◽  
The Stability ◽  
Model Reference Adaptive

This paper presents an application of the MRAC (Model Reference Adaptive Control) techniques to achieve the attitude stabilization in an unmanned aerial vehicle (UAV) type quadrotor when there exists disturbances and/or uncertainties in the parameters due to changes in the payload, variations in battery voltage during flight, etc. This is achieved by performing an online adaptation of the controller parameters, which are obtained by showing the stability property of the closed loop control system using Lyapunov theory. Simulation results using Matlab-Simulink platform are presented to demonstrate the convergence of the controller parameters.

Enhanced Composite Nonlinear Control Technique using Adaptive Control for Nonlinear Delayed Systems

2020 ◽  
Vol 13 (3) ◽  
pp. 396-404
Author(s):  
Sonal Singh ◽  
Shubhi Purwar
Keyword(s):  
Adaptive Control ◽  
Actuator Saturation ◽  
Input Saturation ◽  
Chemical Reactor ◽  
Control Technique ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Delayed Systems ◽  
Analysis Of Stability

Background and Introduction: The proposed control law is designed to provide fast reference tracking with minimal overshoot and to minimize the effect of unknown nonlinearities and external disturbances. Methods: In this work, an enhanced composite nonlinear feedback technique using adaptive control is developed for a nonlinear delayed system subjected to input saturation and exogenous disturbances. It ensures that the plant response is not affected by adverse effect of actuator saturation, unknown time delay and unknown nonlinearities/ disturbances. The analysis of stability is done by Lyapunov-Krasovskii functional that guarantees asymptotical stability. Results: The proposed control law is validated by its implementation on exothermic chemical reactor. MATLAB figures are provided to compare the results. Conclusion: The simulation results of the proposed controller are compared with the conventional composite nonlinear feedback control which illustrates the efficiency of the proposed controller.

scholarly journals Design of Satellite Attitude Control Algorithm Based on the SDRE Method Using Gas Jets and Reaction Wheels

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Luiz C. G. de Souza ◽  
Victor M. R. Arena
Keyword(s):  
Attitude Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Algorithm Design ◽  
Large Angle ◽  
Space Mission ◽  
Control Technique ◽  
Gas Jets ◽  
State Dependent ◽  
Highly Nonlinear

An experimental attitude control algorithm design using prototypes can minimize space mission costs by reducing the number of errors transmitted to the next phase of the project. The Space Mechanics and Control Division (DMC) of INPE is constructing a 3D simulator to supply the conditions for implementing and testing satellite control hardware and software. Satellite large angle maneuver makes the plant highly nonlinear and if the parameters of the system are not well determined, the plant can also present some level of uncertainty. As a result, controller designed by a linear control technique can have its performance and robustness degraded. In this paper the standard LQR linear controller and the SDRE controller associated with an SDRE filter are applied to design a controller for a nonlinear plant. The plant is similar to the DMC 3D satellite simulator where the unstructured uncertainties of the system are represented by process and measurements noise. In the sequel the State-Dependent Riccati Equation (SDRE) method is used to design and test an attitude control algorithm based on gas jets and reaction wheel torques to perform large angle maneuver in three axes. The SDRE controller design takes into account the effects of the plant nonlinearities and system noise which represents uncertainty. The SDRE controller performance and robustness are tested during the transition phase from angular velocity reductions to normal mode of operation with stringent pointing accuracy using a switching control algorithm based on minimum system energy. This work serves to validate the numerical simulator model and to verify the functionality of the control algorithm designed by the SDRE method.

Adaptive Control of Mechanical Gas Face Seals With Rotor Runout and Static Stator Misalignment

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
Haojiong Zhang ◽  
Robert G. Landers ◽  
Brad A. Miller
Keyword(s):  
Adaptive Control ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Control Technique ◽  
Estimation Errors ◽  
Adaptive Controllers ◽  
Gas Leakage ◽  
Robust Model ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper presents a control methodology that utilizes a robust model reference adaptive control technique to regulate the dynamic behavior of a coned mechanical gas face seal system in a flexibly mounted stator configuration. Individual adaptive controllers are designed for the three stator rigid body degrees of freedom based on the linear portions of their respective equations of motion. The force and moments generated within the gas film are estimated using Kalman filter-based estimators and directly cancelled in the control algorithm using offset control signals. The estimation errors are considered as bounded disturbances to the seal system and are taken into account by the robust adaptive controllers. Simulation results show that the controllers effectively stabilize the stator motion and control the stator tilts to synchronously track the rotor runout with near-zero relative misalignment magnitude and phase shift, thus, minimizing gas leakage.

Adaptive Control Scheme for Grid Tied SPV System with DSTATCOM Capabilities: Review

2021 ◽  
Vol 23 (07) ◽  
pp. 678-689
Author(s):  
Bilal Ahmad Ganie ◽  
◽  
Dr. (Mrs.) Lini Mathew ◽  
Keyword(s):  
Adaptive Control ◽  
Stage Structure ◽  
Voltage Regulation ◽  
Control Technique ◽  
Voltage Source ◽  
Voltage Source Converter ◽  
Current Harmonics ◽  
Control Approach ◽  
Photovoltaic Array ◽  
Static Compensator

This study provides an adaptive control approach of VSC (voltage source converter) coupled with SPV (solar photovoltaic array), in a 3P3W (three-phase three-wire) system with three single-phase non-linear loads having Distributed Static Compensator (DSTATCOM) abilities using P and O (perturb & observe) methodology. The adaptive control technique converges quickly and has a low mean square error. For the correction of power factor and zero voltage regulation modes, the system is studied and simulated. The system’s great efficacy at high voltages is due to its one-stage structure. Grid current harmonics are significantly below the IEEE-519 norm. The suggested system is modeled and simulated with the available sim power system toolbox in MATLAB/Simulink, and the system’s behavior under different loads and environmental circumstances is confirmed.

Attitude Control of a String and Rigid Bodies System

2001 ◽  
Author(s):  
Masahiro Nohmi ◽  
Yoshiaki Terumichi ◽  
Kiyoshi Sogabe
Keyword(s):  
Attitude Control ◽  
Extreme Environment ◽  
Linear Interpolation ◽  
Rigid Bodies ◽  
Control Technique ◽  
Element Formulation ◽  
Controlled System ◽  
Control Approach ◽  
Natural Frequency Analysis ◽  
System Characteristics

Abstract Applications of mechanical systems of a string with a rigid bodies subsystem have various possibilities for the engineering in extreme environment conditions, for example, in space or in ocean. This rigid bodies subsystem can be used as a robot subsystem. This paper discusses about attitude control of the rigid bodies subsystem, especially around an equilibrium point of the whole system. The control technique is consists of attitude control with reaction wheels and angular momentum control with manipulation of the rigid bodies subsystem. In order to confirm the effectiveness of the control approach, numerical simulations have been done, under condition that the shape of the string is described by the finite-element formulation, selecting a linear interpolation Also, from the view point of natural frequency analysis of the controlled system, characteristics of the control approach have been examined.

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