The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional ...The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.展开更多
In this article,a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV)with external disturbance and asymmetric output error constraints.Firstly,a dynamic model of the QUAV is transformed into a s...In this article,a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV)with external disturbance and asymmetric output error constraints.Firstly,a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance,and it is decoupled into attitude subsystem and position subsystem for simplifying controller design.Secondly,an asymmetric tangent barrier Lyapunov function(ATBLF)is applied to solve the tracking error constraints problem,and a fixed-time control law is designed.Meanwhile,a fixed-time disturbance observer(FTDO)is designed to cope with external disturbance.Then,it is proved that the designed controller guarantees the tracking error remains within the constraint ranges and converges to zero in fixed-time by Lyapunov stability theory.Finally,the effectiveness of the proposed control scheme is verified by numerical simulations.展开更多
In this paper,a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle(UAV)to simultaneously compensate actuator faults,model uncertainties and external disturbances.By ...In this paper,a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle(UAV)to simultaneously compensate actuator faults,model uncertainties and external disturbances.By assuming knowledge of the bounds on external disturbances,a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances.Then,regarding actuator faults and model uncertainties of the quadrotor UAV,neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them.Moreover,in terms of unknown external disturbances,a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy.Finally,a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults.The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results.展开更多
At present,the attitude control method of plant protection UAV is the classical PID control,but there are some imperfections in the PID control,such as the contradiction between speediness and overshoot,the weak anti-...At present,the attitude control method of plant protection UAV is the classical PID control,but there are some imperfections in the PID control,such as the contradiction between speediness and overshoot,the weak anti-jamming ability and adaptability.The physical parameters of plant protection UAV are time-varying,and the airflow also interferes with it.The control ability of classical PID is limited,and its control parameters are fixed,and its anti-jamming ability and adaptability are not strong.Therefore,a fuzzy adaptive PID controller is proposed in this paper.Fuzzy logic control is used to optimize the control parameters of PID in order to improve the dynamic and static performance and adaptability of attitude control of plant protection UAV.In the process of research,the mathematical model of UAV is established firstly,then the fuzzy adaptive PID is designed,and then the simulation is carried out in Simulink.The simulation results show that the fuzzy adaptive PID controller has better dynamic and static control performance and adaptability than the traditional PID controller.Therefore,the proposed control method has excellent application value in the attitude of plant protection UAV.展开更多
This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate ...This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters.By synthesizing the fast adaptive fault estimator with the embedded control law,an active fault-tolerant control mechanism is established to compensate the adverse e®ects of multiple actuator faults.The e®ectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.展开更多
Purpose-The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor,which is used for goods distribution in huge warehouses,under time-varyi...Purpose-The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor,which is used for goods distribution in huge warehouses,under time-varying payload and external wind disturbance.Design/methodology/approach-A trajectory tracking controller design based on the combination of an adaptive sliding mode control(ASMC)method and the active disturbance rejection control(ADRC)technique is proposed.Besides,an inner-outer loop control system structure is adopted.Findings–Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions,including parameter uncertainty and external wind disturbance.The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance.Originality/value-The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.展开更多
The turbulence or gust in quadrotor flight environment causes drastic changes in the unmanned aerial vehicle(UAV)aerodynamic parameters.Especially,rotor thrust coefficient and reaction torque coefficient of the UAV en...The turbulence or gust in quadrotor flight environment causes drastic changes in the unmanned aerial vehicle(UAV)aerodynamic parameters.Especially,rotor thrust coefficient and reaction torque coefficient of the UAV encounter uncertainty fluctuation,which may undermine the control performance.A real-time estimation strategy for these aerodynamic parameters is proposed to improve the identification on the disturbance.First,the unscented Kalman filter(UKF)algorithm is used to estimate the UAV states and aerodynamic parameters.Then,a double-loop structure,consisting of position and attitude,is designed for the trajectory tracking control.In the outer loop,a proportional-derivative controller is adopted to carry out position tracking and provide Euler angle references for the inner loop,called attitude controller.Moreover,the attitude controller is designed using an inverse dynamic technique.The main contribution of this study is to propose a joint estimation on the aerodynamic parameters with wind disturbance as well as the UAV states.This strategy plays an important role in refining time-varying parameters of wind disturbance.A number of simulations are executed to verify the effectiveness of the proposed method.展开更多
基金National Natural Science Foundation of China(No.61374114)Natural Science Foundation of Liaoning Province,China(No.2015020022)the Fundamental Research Funds for the Central Universities,China(No.3132015039)
文摘The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.
基金supported by Science and Technology Project of Hebei Education Department under Grant No.ZD2022012the Natural Science Foundation of Hebei Province under Grant Nos.F2020203105 and F2022203085+1 种基金the National Natural Science Foundation of China under Grant No.62073234Central Government Guided Local Science and Technology Development Fund Project under Grant No.236Z1601G。
文摘In this article,a fixed-time tracking control strategy is proposed for a quadrotor UAV(QUAV)with external disturbance and asymmetric output error constraints.Firstly,a dynamic model of the QUAV is transformed into a strict feedback system with external disturbance,and it is decoupled into attitude subsystem and position subsystem for simplifying controller design.Secondly,an asymmetric tangent barrier Lyapunov function(ATBLF)is applied to solve the tracking error constraints problem,and a fixed-time control law is designed.Meanwhile,a fixed-time disturbance observer(FTDO)is designed to cope with external disturbance.Then,it is proved that the designed controller guarantees the tracking error remains within the constraint ranges and converges to zero in fixed-time by Lyapunov stability theory.Finally,the effectiveness of the proposed control scheme is verified by numerical simulations.
基金partially supported by the National Natural Science Foundation of China under Grant Nos.62003266 and 61833013the Fundamental Research Funds for the Central Universities under Grant No.G2019KY05103the Natural Sciences and Engineering Research Council of Canada。
文摘In this paper,a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle(UAV)to simultaneously compensate actuator faults,model uncertainties and external disturbances.By assuming knowledge of the bounds on external disturbances,a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances.Then,regarding actuator faults and model uncertainties of the quadrotor UAV,neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them.Moreover,in terms of unknown external disturbances,a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy.Finally,a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults.The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results.
基金This research work was supported by Project of Scientific Operating Expenses from Ministry of Education of China(2017PT19)National Natural Science Foundation of China(31761133019).
文摘At present,the attitude control method of plant protection UAV is the classical PID control,but there are some imperfections in the PID control,such as the contradiction between speediness and overshoot,the weak anti-jamming ability and adaptability.The physical parameters of plant protection UAV are time-varying,and the airflow also interferes with it.The control ability of classical PID is limited,and its control parameters are fixed,and its anti-jamming ability and adaptability are not strong.Therefore,a fuzzy adaptive PID controller is proposed in this paper.Fuzzy logic control is used to optimize the control parameters of PID in order to improve the dynamic and static performance and adaptability of attitude control of plant protection UAV.In the process of research,the mathematical model of UAV is established firstly,then the fuzzy adaptive PID is designed,and then the simulation is carried out in Simulink.The simulation results show that the fuzzy adaptive PID controller has better dynamic and static control performance and adaptability than the traditional PID controller.Therefore,the proposed control method has excellent application value in the attitude of plant protection UAV.
基金National Key Research and Development Program of China(Grant No.2020YFA0711200)National Natural Science Foundation of China(Grant Nos.61833013 and 61973012)+2 种基金Defense Industrial Technology Development Program(Grant No.JCKY2020601C016)Key Research and Development Program of Zhejiang(Grant No.2021C03158)Science and Technology Key Innovative Project of Hangzhou(Grant No.20182014B06).
文摘This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters.By synthesizing the fast adaptive fault estimator with the embedded control law,an active fault-tolerant control mechanism is established to compensate the adverse e®ects of multiple actuator faults.The e®ectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.
基金This work was partially supported by the National Natural Science Foundation of China(Grant No.61273050).496。
文摘Purpose-The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor,which is used for goods distribution in huge warehouses,under time-varying payload and external wind disturbance.Design/methodology/approach-A trajectory tracking controller design based on the combination of an adaptive sliding mode control(ASMC)method and the active disturbance rejection control(ADRC)technique is proposed.Besides,an inner-outer loop control system structure is adopted.Findings–Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions,including parameter uncertainty and external wind disturbance.The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance.Originality/value-The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.
基金Supported by the National Natural Science Foundation of China(No.61703314,61573263)National Key Research and Development Program of China(No.2017YFC0806503)
文摘The turbulence or gust in quadrotor flight environment causes drastic changes in the unmanned aerial vehicle(UAV)aerodynamic parameters.Especially,rotor thrust coefficient and reaction torque coefficient of the UAV encounter uncertainty fluctuation,which may undermine the control performance.A real-time estimation strategy for these aerodynamic parameters is proposed to improve the identification on the disturbance.First,the unscented Kalman filter(UKF)algorithm is used to estimate the UAV states and aerodynamic parameters.Then,a double-loop structure,consisting of position and attitude,is designed for the trajectory tracking control.In the outer loop,a proportional-derivative controller is adopted to carry out position tracking and provide Euler angle references for the inner loop,called attitude controller.Moreover,the attitude controller is designed using an inverse dynamic technique.The main contribution of this study is to propose a joint estimation on the aerodynamic parameters with wind disturbance as well as the UAV states.This strategy plays an important role in refining time-varying parameters of wind disturbance.A number of simulations are executed to verify the effectiveness of the proposed method.