PID with derivative filter and integral sliding-mode controller techniques applied to an indoor micro quadrotor

Kranthi Kumar Deveerasetty,Yimin Zhou 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

The paper proposes two different controllers for tracking control of a quadrotor. An Euler-Lagrange formulation is used to drive the dynamic mathematical model of a quadrotor. To illustrate the advantages of the proposed controllers and for simplicity, all the aerodynamics, Coriolis, drags and gyroscopic effect are abandoned. A PID controller with derivative filter is proposed for the position tracking of the quadrotor here. The advantage of the proposed PID controller include easiness of implementation, effectuate higher stability and less dependent on the system model. The integral sliding-mode controller is proposed to obtain the desired attitude angles for the quadrotor tracking and its advantage is unaffected by the system model errors. The designed controllers can stabilize the roll, pitch, and yaw angles and make the quadrotor to move (x; y; z) positions to their desired values. The Lyapunovs theorem is useful to obtain the quadrotor controllers and also ensure the system track to attain and maintain on the sliding surfaces. The validation of results has been tested in MATLAB simulation and exhibits adequate performance.

Energy Consumption Analysis of Downward-Tethered Quadcopter

ChangHyeon Lee,Junwoo Jason Son,Hakjun Lee,Soohee Han 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

This paper analyze the energy consumption of a new concept of tethered quadrotor system, downward tethered quadrotor (DTQ), to provide insight about using DTQ. DTQ is one of a tethered quadrotor system in which station is located above the flight level of the quadrotor. Thanks to its system layout, the tether can play an important role in energy efficient flight of the quadrotor by adjusting the tension properly. In order to extremize the advantage of DTQ, optimization problem for mechanical power consumption of DTQ in hovering states is formulated. The DTQ in this paper considers misalignment between tether link point on the quadrotor and center of mass (CoM) of the quadrotor to simulate real system. Numerical simulation illustrates efficiency of the proposed method.

Real-time quadrotor actuator fault detection and isolation using multivariate statistical analysis techniques with sensor measurements

Jae-Hyeon Park,Cho-Yong Jun,Jin-Yeong Jeong,Dong Eui Chang 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

Quadrotor, as an unmanned aerial vehicle, has significant potential among military and commercial applications and is utilized in various fields. As the quadrotor usage is more popularized, fault diagnosis becomes important for safe quadrotor flight. In this work, we use data-driven approaches which generally do not require a complex model of quadrotor to detect and to isolate an actuator fault in a quadrotor. We made a circuit that artificially blocks a motor signal to stop the propeller motor and collected real-time sensor measurements in a normal condition and each actuator’s fault condition. Then, we applied various statistical analysis techniques on the collected data to train the diagnosis model and used this model on the new data to test and to compare the performance of the techniques. Those techniques are linear discriminant analysis, principal component analysis, multi-principal component analysis, fisher discriminant analysis, partial least squares regression, and canonical variate analysis. Among the techniques, partial least squares regression shows the best performance for detecting and isolating an actuator fault of a quadrotor.

An Anti-wind Modeling Method of Quadrotor Aircraft and Cascade Controller Design Based on Improved Extended State Observer

Houyin Xi,Dong Zhang,Tao Zhou,Yunxiao Yang,Qiang Wei 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.3

Wind disturbance may significantly reduce the flight control performance of quadrotors when flying. In order to meet high performance flight control requirements, this paper presents a quadrotor anti-wind model (QAWM) and a flight control scheme for quadrotors. The QAWM takes the influence of aerodynamic effects on the propeller, gyroscopic effect and wind disturbance into account. The model can represent more flight states including not only hovering but also flight in windy conditions even maneuver flight. A cascade control schemewith an improved extended state observer (IESO) is adopted to decompose the quadrotor flight control problem into position control loop and attitude control loop. In the attitude control loop, the IESO is used to estimate the unmodeled dynamics, parameter uncertainties and external disturbances, as well as compensate the angular velocity control. In addition, the stability of IESO and the closed loop system are proved. Simulation and experimental results show the effectiveness of the nonlinear quadrotor model and control scheme, and the control scheme can effectively improve the flight performance of quadrotors under wind disturbance even maneuver flight.

Adaptive Sliding Mode Control based on Feedback Linearization for Quadrotor with Ground Effect

Young-Min Kim,백운보 한국정보기술학회 2018 JOURNAL OF ADVANCED INFORMATION TECHNOLOGY AND CON Vol.8 No.2

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of 30° in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

Trajectory Tracking Control of Quadrotor UAV

Sang-hyun Lee,Seung Hoon Kang,Youdan Kim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

Quadrotor is an attractive flying subject in aerospace control fields since it has a simple structure, but complex dynamics. Control engineers have developed various algorithms to control this subtle vehicle. However, it is still very difficult to control quadrotor because of its high nonlinearities. In this paper, the new controller is proposed for the guidance and control of the quadrotor. An attitude controller and position controller are designed based on feedback linearization. In this way, the under-actuated system is divided into two fully-actuated subsystems. Furthermore, 1-2-3 type Euler angles are used so that the quadrotor position can be controlled freely regardless of the yaw angle. As a result, the quadrotor system can be exactly linearized reflecting most of the information that original dynamics has. To show the performance of this controller, numerical simulation is performed for the position tracking.

모션 캡쳐 기반의 실내 다수 AR.Drone 제어 시스템 개발

문성태,조동현,류동영,심은섭 한국항공우주학회 2013 한국항공우주학회 학술발표회 논문집 Vol.2013 No.11

최근 쿼드로터에 대한 관심이 증가하면서 방송에서 군에 이르기까지 다양한 분야에서 활용되고 있다. 특히 다수의 쿼드로터를 동시 제어함으로써 음악에 맞춰 비행체들이 댄스를 하는 응용까지 이르게 되었다. 다수의 비행체를 동시 제어하기 위해서는 서로간의 충돌을 피해 목적지까지 정해진 시간에 맞춰 이동해야 한다. 이를 위해 각 비행체는 자기의 위치를 정확하게 파악해야 한다. 본 논문에서는 실내에서 모션 캡쳐 기반으로 다수의 비행체가 서로의 위치를 파악하고, 시나리오에 맞춰 정해진 임무를 수행하는 동시 제어 시스템을 소개한다. 보다 정확한 위치 파악을 위해 모션 캡쳐를 이용하였고, 비행체는 저가의 AR.Drone 을 사용하였다. Recently, the quadrotor has been applied from broadcast to military area according to increased interest in quadrotor. Especially, quadrotors can play a dance with music by collaborative control of multiple vehicle systems. In order to control multiple quadrotor simultaneously, the quadrotor can reach destination without any collision. For this, each quadrotor has to recognize each position. In this paper, we introduce simultaneous control system which recognizes positions and runs mission based on scenario. The motion captures are used for accurate control and low-cost AR.Drone is used for flight.

System Identification for an Autonomous Quadrotor using Extended and Unscented Kalman Filters

Norafizah Abas,Ari Legowo,Rini Akmeliawati 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10

This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to be typical estimation techniques used to estimate the state vectors and parameters of nonlinear dynamical systems. In this paper, three main processes are highlighted; dynamic modeling of the quadrotor, the implementation of EKF and the implementation of UKF algorithms. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performances of EKF and UKF based on the flight test applied to the quadrotor system.

Hovering Control of a Quadrotor

Keun Uk Lee,Han Sol Kim,Jin Bae Park,Yoon Ho Choi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

This paper deals with the hovering control of a quadrotor. First, we derive the quadrotor model using the Euler-Lagrange equation and perform experiment to identify the model parameter. Second, we divide a quadrotor system into two subsystems: the attitude system and the altitude system. For attitude control, we use PID control method, and for the altitude control, we use dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quadrotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.

슬라이딩 모드와 PID 제어기를 이용한 쿼드로터의 고장허용제어

황남웅,박진배 한국항공우주학회 2015 한국항공우주학회 학술발표회 논문집 Vol.2015 No.11

본 논문은 쿼드로터에 대한 고장허용 제어기를 제안한다. 비선형 시스템인 쿼드로터를 모델링하고 비행중 모터 하나의 효율이 55%까지 떨어지는 경우 모터의 동적방정식을 고려하여 쿼드로터의 추력을 계산한다. PID 제어기와 슬라이딩 모드 제어기로 구성된 고장허용 제어기를 설계하여 모터 하나의 효율이 55%까지 떨어지는 경우에도 안정적인 경로 추종 제어가 되도록 한다. 설계한 제어기를 적용한 쿼드로터가 점근적으로 안정하게 되는 것을 리아프노프 정리에 입각하여 증명한다. 모의실험을 통하여 제안한 제어기의 우수성을 검증한다. This paper suggests the fault tolerance control of the quadrotor. The quadrotor can be modeling in nonlinear dynamics and when one of the motors decreases to 55%, the thrust force of the quadrotor can be obtained considering the motor dynamics. For stable tracking the path when a motor efficiency decreases to 55%, the controller that consists of the PID and sliding mode controller is designed. The asymptotic stability of the quadrotor that the controller is applied to can be prove through Lyapunov’s theorem. The excellence of proposed controller is verified through the simulation.