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Adaptive Linear Quadratic Attitude Tracking Control of a Quadrotor UAV Based on IMU Sensor Data Fusion

N. Koksal, M. Jalalmaab, B. Fidan
2018 Sensors  
In this paper, an infinite-horizon adaptive linear quadratic tracking (ALQT) control scheme is designed for optimal attitude tracking of a quadrotor unmanned aerial vehicle (UAV).  ...  The proposed control scheme is experimentally validated in the presence of real-world uncertainties in quadrotor system parameters and sensor measurement.  ...  This approach is widely used in real-time applications since its solution does not have computational complexities for obtaining constant state-feedback control (Kalman) gains by solving the algebraic  ... 
doi:10.3390/s19010046 fatcat:fryr27sjzng3nnmloy22mqsbkq

Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

Wenqiang Zhang, Chaoyang Dong, Maopeng Ran, Yang Liu
2020 Chinese Journal of Aeronautics  
Moreover, it is actually a type of output feedback control law only requiring the quadrotors' positions to be measurable, which means that the method proposed here is of more practical significance, iii  ...  attitude in a finite time in the presence of time-varying disturbing moments and internal nonlinearities.  ...  In Ref. 21 , a finite-time neural network disturbance observer based formation control scheme is proposed, in which a distributed finite-time trajectory controller and a finite-time attitude controller  ... 
doi:10.1016/j.cja.2020.03.004 fatcat:az5yugijeneareywufln7zxena

A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles

Ziquan YU, Youmin ZHANG, Bin JIANG, Jun FU, Ying JIN
2021 Chinese Journal of Aeronautics  
Then, by considering the various faults encountered by the multi-UAVs, the state-of-the-art developments on individual, leader-following, and distributed FTCC schemes for multi-UAVs are reviewed in detail  ...  This paper presents the recent developments in Fault-Tolerant Cooperative Control (FTCC) of multiple unmanned aerial vehicles (multi-UAVs).  ...  Once the actuator faults in the followers were detected, the generator of the leader UAV modifies its output to adjust the leader UAV's states, such that the faulty follower UAVs with finite-time adaptive  ... 
doi:10.1016/j.cja.2021.04.022 fatcat:gdf3b4n355ev3fthgubogfq2ba

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

George K. Fourlas, George C. Karras
2021 Machines  
fault diagnosis and fault tolerance in a timely and accurate manner.  ...  In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs.  ...  Institutional Review Board Statement: Not applicable. Informed Consent Statement: Not applicable. Data Availability Statement: Not applicable.  ... 
doi:10.3390/machines9090197 fatcat:53feevbq25ggzdbe4kx3x7kdl4

Neural Network Control System of UAV Altitude Dynamics and Its Comparison with the PID Control System

Jemie Muliadi, Benyamin Kusumoputro
2018 Journal of Advanced Transportation  
The comparison served as an analysis tool to assess the advantages of DIC-ANN over conventional control method for a UAV attitude controller.  ...  Therefore, the proposed comparative method is developed to obtain conclusive results of DIC-ANN advantages over the linear method in UAV attitude control.  ...  The Main Ideas in PID Control Systems. The PID control method works in a feedback scheme to stabilize a system dynamics.  ... 
doi:10.1155/2018/3823201 fatcat:5fmtjnnucnhcph4ryrskasc33u

Adaptive non-singular terminal sliding mode controller: new design for full control of the quadrotor with external disturbances

Alireza Modirrousta, Mahdi Khodabandeh
2016 Transactions of the Institute of Measurement and Control  
This paper proposes a backstepping terminal sliding mode control with adaptive algorithm which applied to Quadrotor for free chattering, finite time convergence and robust aims.  ...  In the proposed control scheme, instead of using regular control input, the derivative of the control input has been achieved from terminal second-layer sliding surface.  ...  In this paper, an innovative control scheme is proposed for robust and finite time convergence of the quadrotor attitudes and altitude.  ... 
doi:10.1177/0142331215611210 fatcat:3lyboeirrnfxxay37iy7sa4ixu

Advanced UAVs Nonlinear Control Systems and Applications [chapter]

Abdulkader Joukhadar, Mohammad Alchehabi, Adnan Jejeh
2019 Aerial Robotic Systems [Working Title]  
In this book chapter, the control laws of the attitude and position of a quadcopter UAV have been derived basically utilizing three methods including backstepping, sliding mode control, and feedback linearization  ...  Recent development of different control systems for UAVs has caught the attention of academic and industry, due to the wide range of their applications such as in surveillance, delivery, work assistant  ...  [24] focuses on sliding mode control of the quadcopter; the proposed approach consisted of a sliding mode observer with finite-time process, a hybridization of a PID conventional controller, and a continuous  ... 
doi:10.5772/intechopen.86353 fatcat:gh3muk6gf5d2nnplpkb6muxe2a

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Xing Huo, Mingyi Huo, Hamid Reza Karimi
2014 Mathematical Problems in Engineering  
The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated.  ...  Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude.  ...  Acknowledgments This present work was supported partially by National Natural Science Foundation of China (Project no. 61304149) and Natural Science Foundation of Liaoning, China (Project no. 2013020044  ... 
doi:10.1155/2014/749803 fatcat:tfr2ffqo4basjmj4eslwtrdorm

Interactive Leader–Follower Consensus of Multiple Quadrotors Based on Composite Nonlinear Feedback Control

Zhicheng Hou, Isabelle Fantoni
2018 IEEE Transactions on Control Systems Technology  
It is important to note that within this framework, the control signals are calculated on the UAVs rather than on a PC in real-time experiments. The quadrotors are Parrot AR Drone 2.  ...  thatė iX is bounded in finite time interval [t 0 , t 1 ), where t 1 < ∞.  ... 
doi:10.1109/tcst.2017.2738602 fatcat:5hr5sjnnr5fsbh7s75z2k6r7i4


2020 2020 17th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)  
Characterization of BiVO4 modified TiO2 and its application in the water treatment Elastic constant Mechanical Stability Study of Bulk FAXM3 Perovskites Electric field A method to model the volume charge  ...  Feedback Control and Trajectory Specification for a Propeller-Driven Fixed-wing Aircraft Fixed-wing vtol Aerodynamic Analysis for the Mathematical Model of a Dual-System UAV Formamidinium Mechanical  ... 
doi:10.1109/cce50788.2020.9299167 fatcat:xu346wrfmzhsbbxumvxd2g3zzm

Stabilizing the spatial position of a quadrotor by the backstepping procedure

Dmytro Kucherov, Andrei Kozub, Olha Sushchenko, Ruslan Skrynkovskyy
2021 Indonesian Journal of Electrical Engineering and Computer Science  
To solve the stabilization problem, a mathematical model of the quadrotor has been developed, taking into account its positionin the Cartesian and Euler coordinate systems.  ...  <div>The paper considers the problem of synthesizing a control law that stabilizes the spatial position of an airborne object. The control object is a quadrotor with nonlinear dynamics.  ...  a finite time in a sliding mode.  ... 
doi:10.11591/ijeecs.v23.i2.pp1188-1199 fatcat:ai3o6m5lpjga3gfan55jpumnuy

2020 Index IEEE Transactions on Control Systems Technology Vol. 28

2020 IEEE Transactions on Control Systems Technology  
Rate Adaptive Decoupling Controller and Its Application to a Dual-Tank Water System.  ...  ., +, TCST July 2020 1272-1283 Dual-Rate Adaptive Decoupling Controller and Its Application to a Dual- Tank Water System.  ...  Optimal Detection Schemes for Multiplicative Faults in Uncertain Systems With Application to Rolling Mill Processes. Li, L., +, 2432 -2444  ... 
doi:10.1109/tcst.2020.3047034 fatcat:iin2gzukmbadhbln2qf25c4v6a

Adaptive Robust Motion Control of Quadrotor Systems Using Artificial Neural Networks and Particle Swarm Optimization

Hugo Yañez-Badillo, Francisco Beltran-Carbajal, Ruben Tapia-Olvera, Antonio Favela-Contreras, Carlos Sotelo, David Sotelo
2021 Mathematics  
Integral reconstructors of velocity error signals are properly integrated in the output error signal feedback control scheme.  ...  In this work, a novel adaptive robust neural control design approach for efficient motion trajectory tracking control tasks for a considerably disturbed non-linear under-actuated quadrotor system is introduced  ...  Institutional Review Board Statement: Not applicable. Informed Consent Statement: Not applicable. Data Availability Statement: Not applicable.  ... 
doi:10.3390/math9192367 fatcat:jowj2ntzufa3zgo3ovj2kulnqm

Implementation of autonomous visual tracking and landing for a low-cost quadrotor

Yingcai Bi, Haibin Duan
2013 Optik (Stuttgart)  
This paper presents an implementation of a hybrid system consisting of a low-cost quadrotor and a small pushcart.  ...  The quadrotor is controlled with classical Proportional-Integral-Derivative (PID) controller for autonomous visual tracking and landing on the moving carrier.  ...  Fig. 5 shows the PID controllers for our quadrotor's position control with real-time visual feedback.  ... 
doi:10.1016/j.ijleo.2012.10.060 fatcat:cjkf2cyjnjbwhldzaw6vwtuscq

A Robust Hybrid Control for Autonomous Flying Robots in an Uncertain and Disturbed Environment

Yunes Sh. ALQUDSI, Ayman H. KASSEM, Gamal M. El-BAYOUMI
2021 INCAS Bulletin  
and position of flying robots by adopting insights from sliding mode, geometric tracking, and nonlinear feedback control strategies.  ...  To reveal the promising performance of the developed control schemes, a qualitative comparative analysis of different proposed control approaches is performed.  ...  Reference [19] , proposed a control approach based on the sliding mode observer with finite-time process, hybridized PID controller, and continuous sliding-mode control.  ... 
doi:10.13111/2066-8201.2021.13.2.17 fatcat:2xtyxt4c2jav7hdtmnwwa642eq
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