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Yang W, Shi Z, Zhong Y. Robust adaptive three-dimensional trajectory tracking control scheme design for small fixed-wing UAVs. ISA TRANSACTIONS 2023; 141:377-391. [PMID: 37453890 DOI: 10.1016/j.isatra.2023.06.033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/11/2022] [Revised: 04/14/2023] [Accepted: 06/29/2023] [Indexed: 07/18/2023]
Abstract
This paper aims to tackle the three-dimensional trajectory tracking problems of small fixed-wing unmanned aerial vehicles subject to nonlinearities, uncertainties and wind disturbances via adaptive techniques. The control objective is to efficiently control the thrust and the deflections of control surfaces to ensure the unmanned aerial vehicle arrives at a specified location within a given time frame. However, achieving this goal for small fixed-wing unmanned aerial vehicles can be challenging because the precise dynamic model and several parameters are not accessible, making most existing control strategies unworkable. Motivated by these facts, based on feedback linearization techniques, we derive linear models with equivalent disturbances to describe the translational dynamics without requiring precise aerodynamic force model information. To deal with the dilemmas where the norm bounds of equivalent disturbances depend on control inputs, system states, and unknown disturbances, a novel robust adaptive control strategy is designed for position control. Based on the assumption of two-time separation, the control scheme incorporates two parts, namely, a position controller containing the horizontal-plane and altitude parts and a robust filter-based attitude regulator. Also, to prevent chattering issues, we design a practical and robust adaptive position controller under which the tracking error is ultimately bounded The overall closed-loop stability is theoretically investigated based on the Lyapunov arguments. Hardware-in-loop simulation experiments are performed to testify our developed control scheme.
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Affiliation(s)
- Wenlong Yang
- Department of Automation, Tsinghua University, Beijing 100089, China
| | - Zongying Shi
- Department of Automation, Tsinghua University, Beijing 100089, China.
| | - Yisheng Zhong
- Department of Automation, Tsinghua University, Beijing 100089, China
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2
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Re-planning of Quadrotors Under Disturbance Based on Meta Reinforcement Learning. J INTELL ROBOT SYST 2023. [DOI: 10.1007/s10846-022-01788-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/18/2023]
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Chen J, Hua C. Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method. IEEE TRANSACTIONS ON CYBERNETICS 2022; 52:7634-7642. [PMID: 33326394 DOI: 10.1109/tcyb.2020.3036646] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
In this article, the problem of tracking control is considered for a class of uncertain strict-feedback nonlinear systems with deferred asymmetric time-varying full-state constraints. A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting function, the original constrained system with any initial values is modified to a new constrained system, and the initial values of the modified constrained system remain 0. Then, to remove the feasibility condition caused by the barrier Lyapunov functions, the modified constrained system is further transformed into a new unconstrained system by a brand new nonlinear transformation. Furthermore, the tracking error system of the unconstrained system is constructed by using a new coordinate transformation, and a novel adaptive full-state-constrained control scheme is designed based on this error system through the backstepping recursion method and first-order filters. Finally, the resulting closed-loop system proves to be stable and numerical simulations are conducted to demonstrate the effectiveness of the developed control strategy.
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Sliding Mode Fault Tolerant Control for a Quadrotor with Varying Load and Actuator Fault. ACTUATORS 2021. [DOI: 10.3390/act10120323] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In this paper, an adaptive sliding mode fault-tolerant control scheme based on prescribed performance control and neural networks is developed for an Unmanned Aerial Vehicle (UAV) quadrotor carrying a load to deal with actuator faults. First, a nonsingular fast terminal sliding mode (NFTSM) control strategy is presented. In virtue of the proposed strategy, fast convergence and high robustness can be guaranteed without stimulating chattering. Secondly, to obtain correct fault magnitudes and compensate the failures actively, a radial basis function neural network-based fault estimation scheme is proposed. By combining the proposed fault estimation strategy and the NFTSM controller, an active fault-tolerant control algorithm is established. Then, the uncertainties caused by load variation are explicitly considered and compensated by the presented adaptive laws. Moreover, by synthesizing the proposed sliding mode control and prescribed performance control (PPC), an output error transformation is defined to deal with state constraints and provide better tracking performance. From the Lyapunov stability analysis, the overall system is proven to be uniformly asymptotically stable. Finally, numerical simulation based on a quadrotor helicopter is carried out to validate the effectiveness and superiority of the proposed algorithm.
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Shu P, Li F, Zhao J, Oya M. Robust Adaptive Control for A Novel Fully-Actuated Octocopter UAV with Wind Disturbance. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01450-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
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Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview. J INTELL ROBOT SYST 2020. [DOI: 10.1007/s10846-020-01252-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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Rubí B, Pérez R, Morcego B. A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors. J INTELL ROBOT SYST 2019. [DOI: 10.1007/s10846-019-01085-z] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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Chen J, Hua C, Wang F, Guan X. Distributed adaptive containment control of uncertain QUAV multiagents with time-varying payloads and multiple variable constraints. ISA TRANSACTIONS 2019; 90:107-115. [PMID: 30660350 DOI: 10.1016/j.isatra.2019.01.001] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/19/2018] [Revised: 11/25/2018] [Accepted: 01/03/2019] [Indexed: 06/09/2023]
Abstract
This paper considers the containment control problem for uncertain QUAV (Quadrotor Unmanned Aerial Vehicle) multiagents with time-varying payloads under a fixed topology graph, and a distributed adaptive containment control protocol with multiple variable constraints is proposed. Generally, the control framework is classified into two layers. In the first layer, the desired trajectories are determined for followers by the communication topology and initial values of leaders. For the second layer, the ith QUAV follower is required to track the desired trajectory by employing the information of itself and neighbors. Under the second layer, the system of the ith agent is decoupled into two subsystems: the translational subsystem and the rotational subsystem. For the translational subsystem, the distributed adaptive containment controller is designed via dynamic surface control method to track the desired position trajectory. With such method, the information requirement of ith agent for its neighbors can be reduced significantly. For the rotational subsystem, the adaptive tracking controller is constructed to track the desired attitudes derived from translational subsystem through commonly used attitudes extraction algorithms. In the end, the resulting closed-loop system is proved to be stable in the sense of uniformly ultimate boundness, and the effectiveness of the proposed approach is illustrated by numerical simulations.
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Affiliation(s)
- Jiannan Chen
- Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Changchun Hua
- Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China.
| | - Fang Wang
- Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China
| | - Xinping Guan
- School of Electronics, Information and Electric Engineering, Shanghai Jiaotong University, Dongchuan Road 800, Shanghai, 200240, China
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Liu Z, Zhang Y, Yuan C, Ciarletta L, Theilliol D. Collision Avoidance and Path Following Control of Unmanned Aerial Vehicle in Hazardous Environment. J INTELL ROBOT SYST 2018. [DOI: 10.1007/s10846-018-0929-y] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
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Mamakoukas G, MacIver MA, Murphey TD. Feedback synthesis for underactuated systems using sequential second-order needle variations. Int J Rob Res 2018. [DOI: 10.1177/0278364918776083] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions, the second-order needle variations of optimal control, as the basis for choosing each control response to the current state. A second result of this paper is that the method provably exploits the nonlinear controllability of a system by virtue of an explicit dependence of the second-order needle variation on the Lie bracket between vector fields. As a result, each control decision necessarily decreases the objective when the system is nonlinearly controllable using first-order Lie brackets. Simulation results using a differential drive cart, an underactuated kinematic vehicle in three dimensions, and an underactuated dynamic model of an underwater vehicle demonstrate that the method finds control solutions when the first-order analysis is singular. Finally, the underactuated dynamic underwater vehicle model demonstrates convergence even in the presence of a velocity field.
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Affiliation(s)
- Giorgos Mamakoukas
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA
| | - Malcolm A. MacIver
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA
- Department of Biomedical Engineering, Northwestern University, Evanston, IL, USA
- Department of Neurobiology, Northwestern University, Evanston, IL, USA
| | - Todd D. Murphey
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA
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Mardan M, Esfandiari M, Sepehri N. Attitude and position controller design and implementation for a quadrotor. INT J ADV ROBOT SYST 2017. [DOI: 10.1177/1729881417709242] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Affiliation(s)
- Maziar Mardan
- Department of Mechanical Engineering, University of Manitoba, Manitoba, Canada
| | - Masoumeh Esfandiari
- Department of Mechanical Engineering, University of Manitoba, Manitoba, Canada
| | - Nariman Sepehri
- Department of Mechanical Engineering, University of Manitoba, Manitoba, Canada
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Active Fault-Tolerant Control of Unmanned Quadrotor Helicopter Using Linear Parameter Varying Technique. J INTELL ROBOT SYST 2017. [DOI: 10.1007/s10846-017-0535-4] [Citation(s) in RCA: 24] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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Yacef F, Bouhali O, Hamerlain M, Rizoug N. Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery. J INTELL ROBOT SYST 2016. [DOI: 10.1007/s10846-016-0345-0] [Citation(s) in RCA: 26] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/22/2022]
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14
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Trajectory Tracking Control for Quadrotor Robot Subject to Payload Variation and Wind Gust Disturbance. J INTELL ROBOT SYST 2016. [DOI: 10.1007/s10846-016-0333-4] [Citation(s) in RCA: 73] [Impact Index Per Article: 9.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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A Learning-Based Fault Tolerant Tracking Control of an Unmanned Quadrotor Helicopter. J INTELL ROBOT SYST 2015. [DOI: 10.1007/s10846-015-0293-0] [Citation(s) in RCA: 22] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/22/2022]
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Cen Z, Noura H, Susilo TB, Younes YA. Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer. J INTELL ROBOT SYST 2013. [DOI: 10.1007/s10846-013-9921-8] [Citation(s) in RCA: 29] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
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