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Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach [article]

Nidhish Raj, Ravi N Banavar, Abhishek, Mangal Kothari
2019 arXiv   pre-print
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the  ...  In contrast, the SPR tracking controller is derived such that the tracking error dynamics inherits the natural damping characteristic of the helicopter.  ...  Throughout the study, a nonlinear coupled rotor-fuselage helicopter model with first order flap dynamics is used. Index Terms-Geometric Control, Attitude Tracking, Helicopter, Robust Control. I.  ... 
arXiv:1709.05652v2 fatcat:stegilywdbefxhdgxqtvobih34

Experiments with Small Unmanned Helicopter Nose-Up Landings

Selcuk Bayraktar, Eric Feron
2009 Journal of Guidance Control and Dynamics  
However, 6 degrees of freedom must be controlled (geometric position and attitude).  ...  ., “Trajectory Tracking Control Design for Autonomous Helicopters Using a Backstepping Algorithm,” Proceedings of the American Control Conference, IEEE, Piscataway, NJ, June 2000, pp. 4102-4107.  ... 
doi:10.2514/1.36470 fatcat:4zjmkawwbzhk5g77ifsjuozhre

Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter

F. Kendoul, D. Lara, I. Fantoni, R. Lozano
2007 Journal of Guidance Control and Dynamics  
., “Robust Trajectory Tracking for a Scale Model Autonomous Helicopter,” /nternational Journal of Robust and Nonlinear Control, Vol. 14, No. 12, Aug. 2004, pp. 1035-1059. Johnson, E.  ...  Many adaptive controllers have been proposed for helicopter control [18-20]. Recently, adaptive controllers have been proposed [14] for trajectory tracking of a helicopter.  ... 
doi:10.2514/1.27882 fatcat:ha2o455qmnbkbllhpwmnaz3ssa

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Saeed Rafee Nekoo, José Ángel Acosta, Anibal Ollero
2022 Robotica (Cambridge. Print)  
The proposed control structure is capable of aerobatic flight, and the Pugachev's Cobra maneuver is chosen to assess the capability of the quaternion-based SDDRE approach.  ...  The application of the quaternion is exercised in quadrotor modeling and control. It changes the dynamics and represents a singularity-free attitude model.  ...  Krishna et al. used the geometric control for helicopter trajectory tracking in agile flight regarding the attitude of the system [3] .  ... 
doi:10.1017/s0263574722000091 fatcat:hghiqn2ebvamtfbq7fvi24pthy

Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3) [article]

Taeyoung Lee, Melvin Leok, N. Harris McClamroch
2011 arXiv   pre-print
The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a nonlinear controller that solves an output tracking problem.  ...  This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV).  ...  In this paper, we make use of geometric methods to define and analyze controllers that can achieve complex aerobatic maneuvers for a quadrotor UAV.  ... 
arXiv:1003.2005v4 fatcat:ahb7lixcc5babnfvq55ili7qaq

Aggressive Maneuver Regulation of a Quadrotor UAV [chapter]

Sara Spedicato, Giuseppe Notarstefano, Heinrich H. Bülthoff, Antonio Franchi
2016 Springer Tracts in Advanced Robotics  
Differently from the classical trajectory tracking approach, maneuver regulation does not require following a timed reference state, but a geometric "path" with a velocity (and possibly orientation) profile  ...  In this paper we design a nonlinear controller for aggressive maneuvering of a quadrotor. We take a maneuver regulation perspective.  ...  Acknowledgements The work of G. Notarstefano and S. Spedicato is partially supported by the project SOCIAL-ROBOTS under the program "5 per mille per la ricerca".  ... 
doi:10.1007/978-3-319-28872-7_6 fatcat:gdrmy2gowjgpnbmcnlh6ka5exi

The GRASP Multiple Micro-UAV Testbed

Nathan Michael, Daniel Mellinger, Quentin Lindsey, Vijay Kumar
2010 IEEE robotics & automation magazine  
Position Control Here we present two representative position control methods that use the roll and pitch angles as inputs via a method similar to a backstepping approach [18] .  ...  A. Attitude Control We now present an attitude controller to track trajectories in SO(3) that are close to the nominal hover state where the roll and pitch angles are small.  ... 
doi:10.1109/mra.2010.937855 fatcat:onh5vxzpcbbfjb6zjiipfbhije

Modeling and Control of Inverted Flight of a Variable-Pitch Quadrotor [article]

Namrata Gupta, Mangal Kothari, Abhishek
2017 arXiv   pre-print
A control allocation loop is added to address the problem of nonlinearity associated with rotor torque. This is done by introducing the derivative of thrust coefficient as a virtual control input.  ...  The concept is validated by showing attitude stabilization in real flight for a variable pitch quadrotor.  ...  Previously, approaches like backstepping [16, 17] , sliding mode [18] , nonlinear dynamic inversion (NDI) [19] , [20] , adaptive control [21, 22, 23, 24] , have been applied to design controller for  ... 
arXiv:1709.06407v1 fatcat:wbzhmq5wvjdctlluxmtxt54lgi

Influence of Forward and Descent Flight on Quadrotor Dynamics [chapter]

Matko Orsag, Stjepan Bog
2012 Recent Advances in Aircraft Technology  
They have concluded that classical PID controllers achieve more robust results.  ...  This controller exhibits good tracking results for simple, predefined trajectories.  ... 
doi:10.5772/37438 fatcat:3fscn64exng7xablm3tcrbqj44

Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design

Coşku Kasnakoğlu, Xiaosong Hu
2016 PLoS ONE  
It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%.  ...  Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed.  ...  Acknowledgments The author thanks The Scientific and Technological Research Council of Turkey (TUBITAK) for funding this research under project 113E581 as well as the members of the TOBB ETU UAV Laboratory  ... 
doi:10.1371/journal.pone.0165017 pmid:27783706 pmcid:PMC5082684 fatcat:u7glauuwwjchnkukfatlidag2i

Modelling and Model Based Control Design For Rotorcraft Unmanned Aerial Vehicle [article]

Rejina Ling Wei Choi, University Of Canterbury
Designing high performance control of rotorcraft unmanned aerial vehicle (UAV) requires a mathematical model that describes the dynamics of the vehicle.  ...  It is found that simplified decoupled model of RUAV has slightly better data fitting compared with the complex model for helicopter attitude dynamics in hover or near hover flight condition.  ...  Similar approach is presented in (Abbeel et al., 2010b) for identifying simple nonlinear dynamics model of a small aerobatic helicopter (XCell Tempest).  ... 
doi:10.26021/1337 fatcat:pmz3oapdobf3bkinwuf46rg34i

Perching Using a Quadrotor with Onboard Sensing

Jeremy C Goldin
The perching aggressive maneuver is representative of a class of control problems for aerobatics that requires an agile and robust control system for maneuvering accurately at high speeds.  ...  To achieve this, three major challenges are overcome: precise and real-time positioning, sensing of the perch and path to the perch, and control methods for robust and accurate tracking at high speeds.  ...  Implementing a combination of these approaches enables fast and effective mapping with very robust tracking.  ... 
doi:10.26076/a220-96ad fatcat:ue5hkh32ifdurb2sjxvbvqmxwm

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Acknowledgements This research is part of a research programme funded by the New Zealand Foundation for Research Science and Technology, New Zealand, project UOO808.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Adaptive Robust Attitude Controller Design for a Quadrotor Platform

Emre Yilmaz, Ali T. Kutay
2014 AIAA Atmospheric Flight Mechanics Conference   unpublished
With the aid of sensors on the off-the-shelf platform, the controllers are designed to enact tracking of the reference commands that contain the desired trajectories and attitudes.  ...  Besides, by employing correction approaches, the advancement of the controller in terms of robustness is examined where dead zone implementation, e-and sigma-modifications are exploited.  ...  It was a great honour to work with him for the last three years and our cooperation influenced my academical view highly. When I requested his help during  ... 
doi:10.2514/6.2014-2671 fatcat:zvonalzz6fhjbkirsllllo5gb4


Presentata Da:, Michele Coordinatore, Dottorato Relatore, Lorenzo Daniele, Marconi
Of course the family deserves a huge hug and thanks.  ...  The main capability of mobile robots to accomplish a typical mission is the mobility in the work environment. It may seems a simple task for humans, but for mobile robots there are many challenges.  ...  Backstepping control design has been proposed in [34] in order to perform aggressive maneuvers by considering the dynamics of a model helicopter, and in [22] by considering a hybrid controller able  ...