Robust Trajectory Tracking Control and Obstacles Avoidance Algorithm for Quadrotor Unmanned Aerial Vehicle

Baqir Nasser AbdulSamed,Ammar A. Aldair,Auday Al‑Mayyahi 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.2

This paper addresses the designing of a robust controller for an automatic landing, trajectory tracking and take-of missions of quadrotor unmanned aerial vehicle (QUAV). This has been investigated where the QUAV’s dynamic model involves nonlinearity, uncertainties, and coupling which makes the QUAV has a very complex system. The proposed controller can control both the position and orientation in addition to control the driving motors. For controlling the position, an appropriate control signal is generated for adjusting the altitude of the QUAV in a working space. To achieve this, three adaptive fuzzy controllers have been designed for three-dimensional coordinates i.e. x, y and z axes. For orientation control, three proportional derivative integral controllers (PIDCs) are introduced to control pitch, roll and yaw angles and make them reaching the desired values. Moreover, PID controllers are proposed for controlling the four driving motors. The parameters of both fuzzy and PID controllers are tuned by using particle swarm optimization (PSO) algorithm which enables the selection of the optimal values for each controller. For comparison purposes, the adaptive fuzzy controllers in the frst layer of the proposed control system are replaced with PIDCs to prove the efectiveness of the proposed control system. Furthermore, a Lyaounov theory is utilized for studying the stability of fuzzy controllers. The proposed control system is capable of guiding the QUAV to track the previously defned reference trajectories. For obstacle avoidance, a vector feld histogram algorithm is used to avoid collision of the QUAV with obstructing obstacles that block the QUAV’s path.

Nonlinear Cascade Control for a New Coaxial Tilt-rotor UAV

Shengming Li,Lin Feng,Zongyang Lv,Yuhu Wu,Yingshun Li 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.9

This paper proposes a nonlinear control strategy for a newly-designed coaxial tilt-rotor (CTR) unmanned aerial vehicle (UAV), which is a special class of tilt-rotor (TR) UAVs with two pairs of coaxial rotors, two servos, and a rear rotor. The CTRUAV is an underactuated system, and the controller is designed in cascade form. The proposed controller includes two sub-controllers: an inner-loop attitude controller and an outer-loop velocity controller. Each sub-controller is proposed by using a backstepping-like feedback linearization method to control and stabilize the CTRUAV. The developed control strategy can realize the motion control for the CTRUAV. The asymptotic stability of the resulting closed-loop system is analyzed by the Lyapunov method. Finally, simulations and real flight tests are performed to validate the effectiveness of the proposed control system.

Operational Performance Evaluation of Remote Controllers for Manual Control of UAV

Kawng-Soo Park(박광수),Seong-Hwan Kim(김성환),Giancarlo Eder Guerra Padilla,Kun-Jung Kim(김건중),Kee-Ho Yu(유기호) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.4

Recently, unmanned aerial vehicles (UAV) have been used widely for various applications, but the role of the human operator for their operation and control is indispensable because of lack of control system’s autonomy. To improve the performance of the manual control of UAVs, a well-designed remote controller is needed, and the evaluation of operational performance of such a remote controller is important. In this paper, a single-stick remote controller of the joystick type was designed and evaluated in comparison with a conventional dual-stick remote controller. A comparative evaluation of operational performance in a simulation experiment using a quadrotor UAV was carried out. The results of the simulation experiment showed that the single-stick remote controller was superior to the dual-stick conventional one in all of the factors evaluated in the given manual control mission: the average operation time, tracking error rate, and learning effect. Also, subjective evaluations about the convenience of the control operation and the intuitiveness of the motion control for each remote controller were obtained by ratings from the experiment participants.

CONDUIT을 활용한 고정익무인기 종운동 자동비행 제어법칙 설계

이상종,민병문,최형식 한국산학기술학회 2022 한국산학기술학회논문지 Vol.23 No.7

This paper presents the design process and results of an automatic flight control law for a fixed wing-type UAV. Target flight controllers are the pitch, airspeed, and altitude controller. The flying qualities of the controller performance are defined, and the controller gains are shown to satisfy the requirements. In general, the manual tuning method is conducted to meet the flying qualities, which require trial and error because each control gain makes mutual effects through dynamic equations. This problem takes time. For improvement, the paper adopts optimization software CONDUIT(Control Designer's Unified Interface). After defining the flying qualities, such as step response, gain/phase margin, damping ratio, eigenvalues, and rising time, the optimized controller gains are obtained by treating the flying qualities as constraints and cost functions. To verify the effectiveness of the proposed method, a simulation of the designed controller was conducted compared with the manual controller. Therefore, the unsatisfied responses, such as overshoot oscillation, transient error, steady-state error, and rising time, are improved. By optimizing six control gains at once to satisfy all flying qualities at Level 1, the optimization method was found to be more efficient than the manual method. 본 논문에서는 고정익 무인기의 자동비행조종 제어법칙의 설계과정과 결과를 나타내었다. 설계 대상 비행 제어기는 무인기의 종운동 운용을 위한 피치각 제어기와 속도 제어기 및 고도 제어기이며, 무인 비행체가 만족시켜야 하는 비행성 요구조건을 정의하고 이를 만족시키기 위한 제어이득의 선정결과를 제시하였다. 일반적으로 제어이득을 수동으로 튜닝하는 방식은 각각의 제어이득이 대상 무인기의 운동방정식에서 서로 연동되어 영향을 주기 때문에 요구조건을 만족시키는 제어이득을 찾기 위해서는 반복적인 설계과정에서 많은 시간이 소요되는 문제점이 발생하게 된다. 본 논문에서는 이러한 제어이득을 수동으로 튜닝하는 방식의 문제점을 개선하기 위해 통합 최적화 프로그램인 CONDUIT (Control Designer's Unified Interface)을 적용하였다. 제어기의 비행성 요구조건 중 단위계단응답, 게인/위상여유, 감쇄계수 및 고유치, 상승시간을 구속조건과 비용함수로 설정하고 제어이득을 설계변수로 정의하여 최적화를 통한 제어이득을 산출하였다. 수동방식의 제어이득과 최적화를 통해 선정된 제어이득을 적용한 각 제어기의 시뮬레이션을 수행하여 수동튜닝 제어기에서 비행성 요구조건을 만족시키지 못하는 오버슈트 진동, 과도응답 오차, 정상상태 오차 및 상승시간 등 이 향상됨을 확인하였고, 6개의 제어게인을 한꺼번에 최적화하여 모든 비행성 요구조건을 Level 1으로 만족시킴으로써 최적화 방식이 수동방식에 비해 효율적인 설계결과를 산출할 수 있음을 입증하였다.

Resilient Tracking Control for Unmanned Helicopter Under Variable Disturbance and Input Perturbation

Linbo Chen,Tao Li,Zehui Mao,Shumin Fei 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1

In this work, by utilizing a disturbance observer-based control (DOBC) method, the resilient tracking control is studied for the unmanned aerial helicopter (UAH) with paramteter uncertainty, multiple disturbances, and input perturbation. Firstly, a state observer and two disturbance observers are respectively constructed to estimate the unmeasurable flapping motion states and outside disturbances, which are further utilized to design the feedforward controller. Secondly, by considering stochastic perturbation, a resilient feedback controller is proposed and an overall closed-loop error system is established. Thirdly, based on stochastic control theory and robust control method, a sufficient condition is obtained to guarantee the asymptotical stability and H∞ performance index for the closed-loop error system. Furthermore, the observer gains and controller one can be jointly checked by solving the derived linear matrix inequality (LMI). Finally, some simulations are presented to verify the effectiveness of the derived control method.

Fuzzy swarm trajectory tracking control of unmanned aerial vehicle

Boumediene Selma,Samira Chouraqui,Hassane Abouaïssa 한국CDE학회 2020 Journal of computational design and engineering Vol.7 No.4

Accurate and precise trajectory tracking is crucial for unmanned aerial vehicles (UAVs) to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the robust adaptive neuro-fuzzy inference system (ANFIS) and particle swarm optimization (PSO) algorithm. The ANFIS-PSO controller is implemented to govern the behavior of three degrees of freedom quadrotor UAV. The ANFIS controller allows controlling the movement of UAV to track a given trajectory in a 2D vertical plane. The PSO algorithm provides an automatic adjustment of the ANFIS parameters to reduce tracking error and improve the quality of the controller. The results showed perfect behavior for the control law to control a UAV trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with ANFIS and PID control methods.

Fuzzy Adaptive Control Law for Trajectory Tracking Based on a Fuzzy Adaptive Neural PID Controller of a Multi-rotor Unmanned Aerial Vehicle

Abigail María Elena Ramírez Mendoza,Wen Yu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.2

This article presents a fuzzy adaptive control law (FACL) designed for tracking the trajectory of a low-scale unmanned aerial vehicle (UAV), based on a new fuzzy adaptive neural proportional integral derivative (FANPID) controller. FACL estimates the angles of rotation, if the reference trajectory is proposed, applying the adaptivity of the new FANPID-Lyapunov controller. UAV parameters were previously identified using the fuzzy adaptive neurons (FAN) method and experimental aerodynamic data. FANPID-Lyapunov controller optimizes trajectory tracking and stability analysis is performed. The FACL simulation results obtained in Matlab®/Simulink show the effectiveness, adaptivity and optimization of the flight control system, because it self-tunes the angles satisfactorily, adapts the gains and parameter for the FANPID-Lyapunov-Fuzzy controller, and reduces the error considerably compared to the controllers PID-Fixed gains, PID-Fuzzy adaptive gains, PID-Lyapunov-Fixed gains, and FOPID-Lyapunov-Fuzzy adaptive gains and parameters.

농업용 무인항공기를 활용한 농약방제 효율성 방안에 관한 연구

정가영,조용윤 한국사물인터넷학회 2022 한국사물인터넷학회 논문지 Vol.8 No.2

In the agricultural environment, pesticide control requires a high risk of work and a high labor force for farmers. The effectiveness of pesticide control using unmanned aerial vehicles varies according to climate, land type, and characteristics of unmanned aerial vehicles. Therefore, an effective method for pesticide control by unmanned aerial vehicles considering the spraying conditions and environmental conditions is required. In this paper, we propose an efficient pesticide control system based on agricultural unmanned aerial vehicles considering the application conditions and environmental information for each crop. The effectiveness of the proposed model was demonstrated by measuring the drop uniformity of pesticides according to the change in altitude and speed after attaching the sensory paper and measuring the penetration rate of the drug inside the canopy according to the change in crop growth conditions. Experiment result, the closer the height of the UAV is to the ground, the more evenly the crops are sprayed, but for safety reasons, 2m more is suitable, and on average a speed of 2m/s is most suitable for control. The proposed control system is expected to help develop intelligent services based on the use of various unmanned aerial vehicles in agricultural environments. 농업환경에서 농약방제는 농업인에게 작업 위험성과 높은 노동력을 요구한다. 무인항공기를 활용한 농약방제는기후, 토지형태, 무인항공기의 특성에 따라 효율성이 다르게 나타난다. 따라서, 살포조건과 환경조건을 고려한 효율적인무인항공기 농약방제 방안이 요구된다. 본 논문은 작물별 살포조건과 환경정보를 고려한 농업용 무인항공기 기반의 효율적인 농약 방제 시스템을 제안한다. 감수지 부착 후 고도 및 속도 변화에 따른 농약 낙하균일도 측정 및 작물 성장조건 변화에 따른 수관내부 약제 침투율 측정 실험을 통해 제안하는 모델의 효과성을 보였다. 실험결과, 무인항공기의높이가 지면과 가까울수록 작물에 고르게 살포되지만 안전이 고려된 2m이상이 높이와 평균 2m/s의 속도에서 가장방제효과가 적합하였다. 제안하는 방제 시스템은 농업환경에서의 다양한 무인항공기 활용 기반 지능형 서비스 개발에도움을 줄 것으로 기대한다.

Adaptive Robust Control via a Nonlinear Disturbance Observer for Cable-driven Aerial Manipulators

Li Ding,Kailei Liu,Guibing Zhu,Yaoyao Wang,Yangmin Li 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.2

This article proposes a novel robust control scheme for the trajectory tracking control of a cabledriven aerial manipulator in joint space, combining an adaptive fractional-order nonsingular terminal sliding mode (FONTSM) manifold and a nonlinear disturbance observer (NDOB). The proposed control scheme mainly consists of three aspects, i.e., an NDOB used to estimate the unmodeled dynamics and external disturbances, a FONTSM applied to guarantee the control accuracy of the tracking performance, and an adaptive reaching law applied to improve the robustness. The proposed scheme is based on the model-free idea that can reduce the difficulty of controller design without knowing the precise dynamics of the plant. The experimental results show that the proposed controller can ensure better transient performance and stronger robustness against lumped disturbances than two other existing controllers.

Quadcopter control using the viscoelastic control law

Manas Kumar Sahoo,J. K. Dutt,S. K. Saha 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Quadcopter is an unmanned aerial vehicle (UAV) with four rotors and generally, they are placed in a square formation with equal distance from the centre of mass. The thrust produced by each rotor is directed upward and the UAV is controlled by varying the magnitude and direction of the rotor speed with the help of DC motors. In this paper, a novel controller is proposed that imitate the behavior of four-element viscoelastic material. Some unmodelled disturbances was fed to the system to check the controller performance. The FE controller performance was compared with the classical PID controller. As in real world performances quadcopters are used in the presence of various sensors and other measuring devices, the time delay introduced by these instruments becomes very important for the stability of the system. Hence both the controllers were subjected to some designed time delay so that they can be compared in real-world scenario. The simulation of the above was carried out with the help of Simulink platform and from the simulation it was found that the FE controller is fast, accurate and precise in performance compared to the PID controller.