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Successive Loop Closure Based Controller Design for an Autonomous Quadrotor Vehicle
Singh, Ansu Man,Lee, Deok Jin,Hong, Dong Pyo,Chong, Kil To Trans Tech Publications, Ltd. 2013 Applied Mechanics and Materials Vol. No.
<P>In this paper, a new systematic approach for designing a self-tuning controller for an autonomous quadrotor robot is introduced.In order to design the self-tuning controller, first, a linearized dynamic model of a quadrotor about hovering positions is derived, and thenthe successive loop closure approach is applied to design the self-tuning PID controller of the attitude, altitude and velocity for the autonomous flying capability of the flying robot. In addition, nonlinearities of the design model are also imposed in the control loop by takinginto account the saturation of actuators. For the verification of the effectiveness of the proposed controller, various simulation studiesare carried out in terms of the accuracy and robustness.</P>
Fast Terminal Sliding Control Application for Second-order Underactuated Systems
Ansu Man Singh,하쾅 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
In this paper, we propose a robust and finite-time control method, based on the terminal sliding mode (TSM), for a class of two-degree-of-freedom (2-DOF) underactuated electromechanical systems subject to bounded uncertainties and disturbances. First, the proposed Fast Terminal Sliding Mode (FTSM) method is presented. Then for the underactuated system control, hierarchical sliding surfaces are defined, consisting of two layers. In the first layer, separate FTSM sliding functions are selected for each state of the system. In the second layer, the system sliding manifold is a linear combination of the first layer sliding surfaces. A control law is derived and stability conditions of the nonlinear system are obtained by using the Lyapunov theory. To verify the effectiveness of our proposed method, the developed control technique is applied to control both the swinging load and the cart position of an underactuated gantry crane. Extensive simulation and real-time experiments demonstrate enhanced performance of the system and robustness against parametric variations in comparison to conventional TSM and sliding mode control.
Design Convergent Dynamic Window Approach for Quadrotor Navigation
Felipe Patino Vista IV,정길도,Ansu Man Singh,이덕진 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.15 No.10
This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of theobjective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in nonholonomicvehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomicvehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations whereconventional method failed.