Authors A.A. Sklyarov, S.A. Sklyarov
Month, Year 08, 2014 @en
Index UDC 681.51
Abstract This paper presents a new approach to quadrotor unmanned aerial vehicle control in environment with undefined external perturbation. The quadcopter is chosen as controlled object because among the others this type of UAV is the most maneuverable, designed to work in closed spaces and designed to operate in urban environment. The undefined perturbation, for example, a strong windflaw, are always effect on quadcopter in flight, thus in this paper examines the analysis of the dynamic model of quadrotor UAV which takes into account the external perturbation. For synthesis of nonlinear synergistic control of the quadcopter was applied the method of analytics construction of aggregated regulators with integral adaptation. The synthesized control algorithm is invariant to piecewise constant external perturbations, the worst type of perturbations, which arise in quadcopter flight.

Download PDF

Keywords Mobile robot; quadrocopter; perturbation; adaptive control; synergetic control theory.
References 1. Feng Zhou, Yanxuan Wu, Liu Jing, Xu Min. Design of a adaptive decoupling control law of miniature duct fan UAV, Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on. IEEE, 2012, pp. 746-751.
2. Qing Lin, ZhiHao Cai, YingXun Wang, JinPeng Yang, LiFang Chen. Adaptive Flight Control Design for Quadrotor UAV Based on Dynamic Inversion and Neural Networks, Instrumentation, Measurement, Computer, Communication and Control (IMCCC), 2013 Third International Conference on. IEEE, 2013, pp. 1461-1466.
3. Byung-Cheol Min, Ji-Hyeon Hong, Matson E.T. Adaptive Robust Control (ARC) for an altitude control of a quadrotor type UAV carrying an unknown payloads, Control, Automation and Systems (ICCAS), 2011 11th International Conference on. IEEE, 2011, pp. 1147-1151.
4. Fu-Kuang Yeh, Chia-Wei Huang, Jian-Ji Huang. Adaptive fuzzy sliding-mode control for a mini-UAV with propellers, SICE Annual Conference (SICE), 2011 Proceedings of. IEEE, 2011, pp. 645-650.
5. Fortmann F. Ludtke A. An intelligent SA-adaptive interface to aid supervisory control of a UAV swarm, Industrial Informatics (INDIN), 2013 11th IEEE International Conference on. IEEE, 2013, pp. 768-773.
6. Fernando T., Chandiramani J., Taeyoung Lee, Gutierrez H. Robust adaptive geometric tracking controls on SO(3) with an application to the attitude dynamics of a quadrotor UAV, Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on. IEEE, 2011, pp. 7380-7385.
7. Bialy B.J., Klotz J., Brink K., Dixon W.E. Lyapunov-based robust adaptive control of a quadrotor UAV in the presence of modeling uncertainties, American Control Conference (ACC), 2013. IEEE, pp. 13-18.
8. Kolesnikov A.A. Sinergeticheskaya teoriya upravleniya [Synergetic control theory]. Moscow: Energoatomizdat, 1994, 344 p.
9. Veselov G.E. Sinergeticheskiy podkhod k sintezu ierarkhicheskikh sistem upravleniya [A synergistic approach to the synthesis of hierarchical control systems], Izvestiya TRTU [Izvestiya TSURE], 2006, No. 6 (61), pp. 73-84.
10. Beji L., Abichou A. Trajectory and Tracking of a Mini-Rotorcraft, Proceedings of the 2005 IEEE Int. Conf. on Robotics and Automation, 2005, pp. 2618-2623.
11. Tommaso Bresciani. Modeling, identification and control of a quadrotor helicopter, Master thesis, Lund University, 2008.
12. Luis Rodolfo Garcнa Carrillo, Alejandro Enrique Dzul Lуpez, Rogelio Lozano, Claude Pйgard. Quad Rotorcraft Control, Springer London Heidelberg New York Dordrecht, 2012.
13. Kolesnikov A.A. Sinergeticheskaya kontseptsiya sistemnogo sinteza: edinstvo protsessov samoorganizatsii i upravleniya [Synergetic concept of system synthesis: the unity of the processes of self-organization and management], Izvestiya TRTU [Izvestiya TSURE], 2006, No. 6 (61), pp. 10-38.
14. Kolesnikov A.A., Veselov G.E., Popov A.N., Mushenko A.S. i dr. Sinergeticheskie metody upravleniya slozhnymi sistemami: mekhanicheskie i elektromekhanicheskie sistemy [Synergistic methods of control of complex systems: mechanical and Electromechanical systems]. Moscow: KomKniga, 2006, 304 p.
15. Veselov G.E., Sklyarov A.A., Sklyarov S.A. Sinergeticheskiy podkhod k upravleniyu traek-tornym dvizheniem mobil'nykh robotov v srede s prepyatstviyami [A synergistic approach to the management of trajectory motion of mobile robots in environments with obstacles], Mekhatronika, avtomatizatsiya, upravlenie [Mechatronics, Automation, Control], 2013, No. 7, pp. 20-25.

Comments are closed.