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Backstepping approach for design of PID controller with guaranteed performance for micro-air UAV

Control Theory and Technology 2020年第1期18卷 19-33页

作者： Yusuf KARTAL patrik kolaric Victor LOPEZ Atilla DOGAN Frank LEWIS University of Texas at Arlington Research Institute Forth Worth 76118TXU.S.A. ZDepartment of Mechanical and Aerospace Engineering University of Texas at ArlingtonTKU.S.A.

Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not *** this paper,we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed *** technique provides the structure and gains for the PID controller,such that a robust and fast response of the UAV(unmanned aerial vehicle)for trajectory tracking is ***,the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV ***,using a small angle approximation and rigorous geometric manipulations,this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping *** gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error *** prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics,which provides a seamless connection with existing built-in UAV attitude *** implement the proposed method on actual UAV,and experimental flight tests prove the validity of these *** is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.

关键词： Quadrotor nonlinear controller trajectory tracking backstepping controller inverse kinematics

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Consensus controller for multi-UAV navigation

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Control Theory and Technology 2018年第2期16卷 110-121页

作者： patrik kolaric Ci CHEN Ankur DALAL Frank L. LEWIS UTA Research Institute University of Texas at Arlington 7300 Jack Newell Bird S Fort Worth TX 76118 U.S.A. School of Automation Guangdong University of Technology Guangdong Key Laboratory of loT Information Technology Guangzhou Guangzhou 510006 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang Liaoning 110819 China

In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.

关键词： Consensus control multi-agent system quadrotor Lyapunov stability distributed system

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