Control Of Quadrotor Helicopter Research Articles

Stabilization control of quadrotor helicopter through matching solution by controlled Lagrangian method

AbstractThis paper implements the controlled Lagrangian method on nonlinear quadrotor system with two degrees of underactuation. A Lagrangian system based on virtual angles is developed for the quadrotor. Based on the model, the matching conditions presented by nonlinear partial differential equations are explicitly solved for the nonlinear quadrotor system without decoupling or division. Besides, it is demonstrated that a constant controlled kinetic matrix could be utilized for energy shaping and simplify the matching conditions since gyroscopic force terms are omitted. Smooth state feedback control laws guaranteeing asymptotic stability of quadrotor system are obtained. Stability analysis and range of the control parameters are deduced based on the reshaped closed‐loop energy. Simulation for a quadrotor helicopter shows the feasibility and efficiency of the theoretical results.

Channel Projection-Based CCA Target Identification Method for an SSVEP-Based BCI System of Quadrotor Helicopter Control.

The brain-computer interface (BCI) plays an important role in assisting patients with amyotrophic lateral sclerosis (ALS) to enable them to participate in communication and entertainment. In this study, a novel channel projection-based canonical correlation analysis (CP-CCA) target identification method for steady-state visual evoked potential- (SSVEP-) based BCI system was proposed. The single-channel electroencephalography (EEG) signals of multiple trials were recorded when the subject is under the same stimulus frequency. The CCAs between single-channel EEG signals of multiple trials and sine-cosine reference signals were obtained. Then, the optimal reference signal of each channel was utilized to estimate the test EEG signal. To validate the proposed method, we acquired the training dataset with two testing conditions including the optimal time window length and the number of the trial of training data. The offline experiments conducted a comparison of the proposed method with the traditional canonical correlation analysis (CCA) and power spectrum density analysis (PSDA) method using a 5-class SSVEP dataset that was recorded from 10 subjects. Based on the training dataset, the online 3D-helicopter control experiment was carried out. The offline experimental results showed that the proposed method outperformed the CCA and the PSDA methods in terms of classification accuracy and information transfer rate (ITR). Furthermore, the online experiments of 3-DOF helicopter control achieved an average accuracy of 87.94 ± 5.93% with an ITR of 21.07 ± 4.42 bit/min.

Autonomous Flight Control of Quadrotor Helicopter by Simple Adaptive Control with Inner Loop PD Controller

The controller parameters of a quadrotor helicopter have to be properly adjusted for the helicopter to fly stably, while considering the helicopter’s dynamics. Typically, there exists uncertainty in helicopter dynamics such as parametric uncertainty and unmodeled dynamics including external disturbances. To cope with uncertainty in the dynamics, it is effective to update controller parameters according to the performance during the flight. This paper proposes the introduction of a simple adaptive control (SAC), which is an adaptive control technique to augment the conventional attitude controller based on the PD controller to attenuate the effect of uncertainty. The introduction of a constraint to the adaptive gain is also proposed to suppress overshoot in the transient response. In this study, it was demonstrated through numerical simulations and experiments that the proposed controller was effective and that its performance was better in comparison to the original PD controller.

Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances

In this paper, a novel nonlinear control strategy along with its simulation for a quadrotor helicopter is proposed. The normal 6-DOF dynamic model of the quadrotor based on the Newton–Euler formula as well as the model with external uncertain disturbances are established. Considering the underactuated and strongly coupled characteristics of quadrotor helicopter, we design a nonlinear control method by using integral backstepping combined with the sliding mode control (integral BS-SMC) to stabilize the quadrotor attitude and to accomplish the task of trajectory tracking. The designed controllers based on the hierarchical control scheme can be divided into rotational controller and translational controller and their stability are validated by the Lyapunov stability theorem. By means of the proposed controllers, the chattering phenomenon and discontinuousness of control inputs faced by traditional sliding mode control (SMC) can be avoided. The feasibility of the control approach presented in this paper is verified by the simulations under different scenarios. The results show that the nonlinear control method not only has a better tracking performance than others but also has a higher robustness when unknown disturbances occur.

Control of a quadrotor helicopter using the COMPASS (BeiDou) system and on-board vision system

In this paper, the COMPASS (or BeiDou) navigation satellite system is utilized for the autonomous flight control of a micro quadrotor helicopter. The CEP (circular error probable) of the COMPASS system is up to 10m, which is about 10 times higher than the widely used GPS system (Global Positioning System). To overcome limited position accuracy associated with the COMPASS system, an onboard vision system is employed to provide high accuracy translational velocity estimations. By fusing the COMPASS system with the vision-based velocity measurement, accurate and drift-free position estimation can be obtained. In addition, a nonlinear flight controller is utilized to improve the trajectory tracking ability. Finally, the validity and practicability are verified by the real-time experimental results.

Modified central force optimization (MCFO) algorithm for 3D UAV path planning

Path planning for the three-dimensional (3D) unmanned aerial vehicles (UAV) is a very important element of the whole UAV autonomous control system. In this paper, a modified central force optimization (MCFO) method is introduced to solve this complicated path-optimization problem for the rotary wing vertical take-off and landing (VTOL) aircraft. In the path planning process, the idea from the particle swarm optimization (PSO) algorithm and the mutation operator of the genetic algorithm (GA) are applied to improve the original CFO method. Furthermore, the convergence analysis of the whole MCFO method is established by the linear difference equation method. Then, in order to verify the effectiveness and practicality of this new path planning method, the path following process is put forward based on the six-degree-of-freedom quadrotor helicopter control system. At last, the comparison simulations among the six algorithms show that the trajectories produced by the whole MCFO method are more superior than the original CFO algorithm, the GA, the Firefly algorithm (FA), the PSO algorithm, the random search (RS) way and the other MCFO algorithm under the same conditions. What is more, the path following process results show that the path planning results are practical for the real dynamic model of the quadrotor helicopter.

Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to address its stabilization and trajectory tracking problem in the existence of external disturbances. The robust controller is achieved by incorporating a prior designed optimal backstepping control (OBC) with a switching function. The control law design utilizes the switching function in order to attenuate the effects caused by external disturbances. In order to eliminate the chattering phenomenon, the sign function is replaced by the saturation function. A new heuristic algorithm namely Gravitational Search Algorithm (GSA) has been employed in designing the OBC. The proposed method is evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. Simulation results show that the proposed ROBC scheme can achieve favorable control performances compared to the OBC for autonomous quadrotor helicopter in the presence of external disturbances.

2A1-F10 ケーブルで懸下されたマルチロータヘリコプタの制御に関する研究

2A1-F10 ケーブルで懸下されたマルチロータヘリコプタの制御に関する研究

P080 地上基地局とケーブルでつながれたマルチローターヘリコプタの制御に関する研究(メカボケーション学生研究発表セッション)

P080 地上基地局とケーブルでつながれたマルチローターヘリコプタの制御に関する研究(メカボケーション学生研究発表セッション)

Adaptive tracking control of quad-rotor helicopter in quaternion based on input-output linearisation with online estimation of inertia moment

In this paper, we consider problems of controlling the position of a quad-rotor helicopter in the quaternion. The quad-rotor helicopter is described by a set of nonlinear equations, which make it difficult to control. This paper presents a useful exact input-output linearisation in the quaternion of the helicopter by using a non-singular input transformation. This linearisation provides both simple controller designs and higher level control performance, for example, the H-infinity control. In addition, this paper presents an adaptive tracking controller with online estimation of the uncertain inertia parameters to make the tracking error zero asymptotically for the position.

Attitude Control of Quad-Rotor Helicopter with COG Shift

Attitude Control of Quad-Rotor Helicopter with COG Shift

ADAPTIVE CONTROL-OPTIMIZATION OF A SMALL SCALE QUADROTOR HELICOPTER

A new method is proposed in this paper in view of the problem of stability and translation tracking control of small scale quadrotor helicopter. The dynamic model of quadrotor helicopter is established based on Newton Euler equation and rigid body theory, and model of the relation-ship between lift and input control signal is established by secondary fitting. The adaptive control-optimization (ACO) method is applied to the control system for the first time, and it has realized the attitude stability and translation tracking control of quadrotor helicopter. Results of simula-tion and real-flight experiment show that adaptive con-trol-optimization (ACO) method has better robustness and real-time performance on attitude and translation control in comparison with common adaptive control methods. DOI: http://dx.doi.org/10.5755/j01.mech.19.5.5533

Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle

Helicopters have generated considerable interest in both the control community due to their complex dynamics, and in military community because of their advantages over regular aerial vehicles. In this paper, we present the modeling and control of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as quadrotor aircraft. This model has been generated using Newton-Euler equations. In order to control the helicopter, classical PD (proportional derivative) and Hybrid Fuzzy PD controllers have been designed. Although fuzzy control of various dynamical systems has been presented in literature, application of this technology to quadrotor helicopter control is quite new. A quadrotor helicopter has nonlinear characteristics where classical control methods are not adequate especially when there are time delays, disturbances and nonlinear vehicle dynamics. On the other hand, Fuzzy control is nonlinear and it is thus suitable for nonlinear system control. Matlab Simulink has been used to test, analyze and compare the performance of the controllers in simulations. For the evaluation of the autonomous flight controllers, some experiments were also performed. For this purpose, an experimental test stand has been designed and manufactured. This study showed that although, both of the classical PD and the Fuzzy PD controllers can control the system properly, the Fuzzy PD controllers performed slightly better than the classical PD controllers, and have benefits such as better disturbance rejection, ease of building the controllers.