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Aerodynamic-Parameter Identification and Attitude Control of quad-rotor Model with CIFER and Adaptive LADRC

Chinese Journal of Mechanical Engineering 2021年第2期34卷 150-159页

作者： Sen Yang Leiping Xi Jiaxing Hao Wenjie Wang Department of UAV Engineering Army Engineering UniversityShijiazhuang 050003China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China School of Electrical and Electronic Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050043China School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

Current research on quadrotor modeling mainly focuses on theoretical analysis methods and experimental methods,which have problems such as weak adaptability to the environment,high test costs,and long ***,the PID controller,which is currently widely used in quadrotors,requires improvement in ***,the aforementioned research has considerable practical significance for the modeling and controller design of quadrotors with strong coupling and nonlinear *** the present research,an aerodynamic-parameter estimation method and an adaptive attitude control method based on the linear active disturbance rejection controller(LADRC)are designed ***,the motion model,dynamics model,and control allocation model of the quad-rotor are established according to the aerodynamic theory and Newton-Euler ***,a more accurate attitude model of the quad-rotor is obtained by using a tool called CIFER to identify the aerodynamic parameters with large uncertainties in the frequency ***,an adaptive attitude decoupling controller based on the LADRC is designed to solve the problem of the poor anti-interference ability of the quad-rotor and adjust the key control parameter b0 automatically according to the change in the moment of inertia in real ***,the proposed approach is verified on a semi-physical simulation platform,and it increases the tracking speed and accuracy of the controller,as well as the anti-disturbance performance and robustness of the control *** paper proposes an effective aerodynamic-parameter identification method using CIFER and an adaptive attitude decoupling controller with a sufficient anti-interference ability.

关键词： quad-rotor Qarameters identification CIFER Adaptive LADRC

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Backstepping sliding mode tracking control of quad-rotor under input saturation

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International Journal of Intelligent Computing and Cybernetics 2012年第4期5卷 515-532页

作者： Xun Gong Yue Bai Zhicheng Hou Changjun Zhao Yantao Tian Qiang Sun School of Telecommunication Engineering Jilin UniversityChangchunChina Chang Chun Institute of Optics Fine Mechanics and Physics Chinese Academy of SciencesChangchunChina

Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability *** purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these ***/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude *** the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control *** consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the *** switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input ***–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this ***,with relation to the flying,the motor speed is kept in the predetermined ***/value–This article introduces a new flight control system designed for a quad-rotor.

关键词： quad-rotor Double-loops Backstepping algorithm Adaptive approximation Bounded control Prototype experiment Genetic algorithms Flight control

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Adaptive Backstepping Sliding Mode Trajectory Tracking Control for a quad-rotor

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International Journal of Automation and computing 2012年第5期9卷 555-560页

作者： Xun Gong 1 Zhi-Cheng Hou 1 Chang-Jun Zhao 2 Yue Bai 2 Yan-Tao Tian 1 1 School of Telecommunication Engineering,Jilin University,Changchun 130025,China 2 Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130080,China School of Telecommunication Engineering Jilin University Changchun China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun China

A quad-rotor aircraft is an under-actuated,strongly coupled nonlinear system with parameter uncertainty and un-modeled *** order to make the aircraft track the desired trajectory,a nested double-loops control system is adopted in this paper.A position error proportional-derivative(PD) controller is designed as the outer-loop controller based on the coupling action between rotational and translational movement,and an adaptive backstepping sliding mode control algorithm is used to stabilize the ***,both the numerical simulation and prototype experiment are utilized to demonstrate the effectiveness of the proposed control system.

关键词： quad-rotor nested double-loops coupling action adaptive backstepping sliding mode

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Adaptive Robust Control for quad-rotor based on a Compound Control Method

Adaptive Robust Control for Quad-rotor based on a Compound C...

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第36届中国控制会议

作者： Rui Ding Ran Jiao Wusheng Chou School of Mechanical Engineering and Automation Beihang University

ISBN: (纸本)9781538629185

This paper proposes an adaptive robust control（ARC） scheme for quad-rotor to track 3D trajectory subject to unknown external disturbances and parametric *** proposed controller is based on a compound control method including back-stepping and sliding mode control（SMC）.Back-stepping is implemented to handle the nonlinearity of the dynamic model,complementary SMC is used to compensate the effect of external disturbances,and adaptive control is applied to estimate system parameters like mass in real *** asymptotic stability of the proposed ARC scheme has been proved by the Lyapunov stability *** simulations in various cases show the effectiveness,adaptability and robustness of the proposed ARC compared with PID control and robust control（RC） without adaptive control law.

关键词： quad-rotor adaptive robust control sliding mode back-stepping parameter estimation

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Inverse Model Control for a quad-rotor Aircraft Using TS-fuzzy Support Vector Regression

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Journal of Harbin Institute of Technology(New Series) 2017年第6期24卷 73-79页

作者： Zhiyu Li Hanxin Chen Congqing Wang Kaijia Xue Institute of Unmanned Aircraft Research Nanjing University of Aeronautics and Astronautics Nanjing 210016 China College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

An inverse model control based on TS-fuzzy support vector regression( TS-fuzzy SVR) for a quadrotor aircraft is developed. The TS-kernel is the product of linear combination of input and a cluster of output corresponding to a cluster of TS-type fuzzy rules. The output of TS-fuzzy SVR is a linear weighted sum of the TSkernels. The dynamical model of the quad-rotor aircraft is derived. A new control scheme combined with TSfuzzy SVR inverse model control and PID control is presented so that the TS-fuzzy SVR inverse model control enhances capabilities of disturbance rejection and the robustness while the PID control enhances fast responsiveness and reliability of the system. Simulation results show the capabilities of the developed control for the attitude system of quad-rotor aircraft.

关键词： support vector regression TS-fuzzy SVR inverse model control quad-rotor aircraft attitude control

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Predictive Control of quad-rotor Delivering Unknown Time-Varying Payloads Based upon Extended State Observer

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Advances in Aerospace Science and Technology 2019年第2期4卷 29-41页

作者： Yuan Wang Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing University of Aeronautics and Astronautics Nanjing China

In this paper, robust control problem is addressed for quad-rotor delivering unknown time-varying payloads. Firstly, the model of a quad-rotor carrying payloads is built. Dynamics of the payloads are treated as disturbances and added into the model of the quad-rotor. Secondly, to enhance system robust-ness, the extended state observer (ESO) is applied to estimate the disturbances from the payloads for feedback compensation. Then a type of predictive controller targeting multiple-input-multiple-output (MIMO) system is developed to degrade the influences caused by sudden changes from load-ing/dropping of the payloads. Finally, by making comparison with the con-ventional cascade proportional-integral-derivative (CPID) and the sliding mode control (SMC) approaches, superiority of the scheme developed is va-lidated. The simulation results indicate that the CPID method shows poor performance on attitude stabilization and the SMC shows input chattering phenomenon even it can achieve satisfied control performances.

关键词： quad-rotor Payloads Delivery Attitude Control Disturbance Estimation Feedback Compensation Predictive Control

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ADRC Based Attitude Control of a quad-rotor Robot

ADRC Based Attitude Control of a Quad-rotor Robot

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2015年中国智能自动化学术会议

作者： Yi Li Zengqiang Chen Mingwei Sun Zhongxin Liu Qing Zhang Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University College of Science Civil AviationUniversity of China

In this paper,active disturbance rejection control(ADRC) technique is described in *** algorithms for each component are given as *** order to control the attitudes of a quad-rotor robot as we desired,two kinds of continuous ADRC controllers are *** satisfactory real-time control experimental results indicate that the continuous ADRC can not only meet the control accuracy requirement but also can achieve rapid and effective response for the nonlinear coupled ***,the advantages and scopes of application of the two controllers are summarized.

关键词： ADRC Extended state observer quad-rotor Nonlinear dynamics

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Tracking Control of a quad-rotor UAV Based on T-S Fuzzy Model

Tracking Control of a Quad-rotor UAV Based on T-S Fuzzy Mode...

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第36届中国控制会议

作者： Miao-ping SUN Jing-jing LIU College of Information Science and Engineering Central South University

In this paper,a fuzzy tracking control strategy for a quad-rotor unmanned aerial vehicle（UAV） with strongly coupling is put forward based on the Takagi-Sugeno（T-S） fuzzy error ***,The quad-rotor system is divided into altitude subsystem,position subsystem and attitude subsystem,selecting appropriate premise variables,the attitude,altitude and position T — S fuzzy error models are given based on the quad-rotor error dynamic model,and weighting functions and membership functions can be ***,fuzzy state feedback controllers are designed to stabilize T-S fuzzy subsystems,according to the Lyapunov stability theorem,the LMI sufficient conditions of exponential stability for T-S fuzzy closed-loop subsystems are obtained,and the gain matrices of controller are ***,simulation results are given to confirm the advantages of the proposed control method,compared with the inner-and outer-loop state feedback control method.

关键词： T-S fuzzy error model quad-rotor Exponential stability LMI

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Design of quad-rotor PID controller based on improved single neuron

Design of Quad-rotor PID controller based on improved single...

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第30届中国控制与决策会议

作者： Lu Yanjun Li Chenjie Zhang Xiaodong School of Automation Shenyang Aerospace University

In view of the traditional PID control algorithm for the control of the quad-rotor attitude angle,the control parameters are difficult to change with the change of ***,the fast stability problem of the quad-rotor is affected,and an improved single neuron adaptive control algorithm is *** algorithm of single neuron by changing the value of K in size,which increases the speed of response,and to limit the overshoot,compared with incremental PID,the simulation results show that the improved algorithm has fast dynamic response,high control precision,strong anti-interference ability,can achieve of the quad-rotor attitude control is better.

关键词： quad-rotor Single neuron Self-adaption Flight control

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