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Journal of Shanghai Jiaotong university(Science) 2022年第6期27卷 790-798页

作者：袁冬冬王彦恺 School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

In order to solve the problems of dynamic modeling and complicated parameters identification of trajectory tracking control of the quadrotor,a data driven model-free adaptive control method based on the improved sliding mode control(ISMC)algorithm is designed,which does not depend on the precise dynamic model of the quadrotor.The design of the general sliding mode control(SMC)algorithm depends on the mathematical model of the quadrotor and has chattering problems.In this paper,according to the dynamic characteristics of the quadrotor,an adaptive update law is introduced and a saturation function is used to improve the SMC.The proposed control strategy has an inner and an outer loop control structures.The outer loop position control provides the required reference attitude angle for the inner loop.The inner loop attitude control ensures rapid convergence of the attitude angle.The effectiveness and feasibility of the algorithm are verified by mathematical simulation.The mathematical simulation results show that the designed model-free adaptive control method of the quadrotor is effective,and it can effectively realize the trajectory tracking control of the quadrotor.The design of the controller does not depend on the kinematic and dynamic models of the unmanned aerial vehicle(UAV),and has high control accuracy,stability,and robustness.

关键词： quadrotor trajectory tracking improved sliding mode control(ISMC) data driven model-free adaptive control

Active fault-tolerant tracking control of a quadrotor with model uncertainties and actuator faults

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 95-106页

作者： Yu-jiang ZHONG Zhi-xiang LIU You-min ZHANG Wei ZHANG Jun-yi ZUO School of Aeronautics Northwestern Polytechnical University Department of Mechanical Industrial and Aerospace Engineering Concordia University

This paper presents a reliable active fault-tolerant tracking control system(AFTTCS) for actuator faults in a quadrotor unmanned aerial vehicle(QUAV). The proposed AFTTCS is designed based on a well-known model reference adaptive control(MRAC) framework that guarantees the global asymptotic stability of a QUAV system. To mitigate the negative impacts of model uncertainties and enhance system robustness, a radial basis function neural network is incorporated into the MRAC scheme for adaptively identifying the model uncertainties online and modifying the reference model. Meanwhile, actuator dynamics are considered to avoid undesirable performance degradation. Furthermore, a fault detection and diagnosis estimator is constructed to diagnose lossof-control-effectiveness faults in actuators. Based on the fault information, a fault compensation term is added to the control law to compensate for the adverse effects of actuator faults. Simulation results show that the proposed AFTTCS enables the QUAV to track the desired reference commands in the absence/presence of actuator faults with satisfactory performance.

关键词： Model reference adaptive control Neural network quadrotor Fault-tolerant control Fault detection and diagnosis

Onboard actuator model-based Incremental Nonlinear Dynamic Inversion for quadrotor attitude control:Method and application

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Chinese Journal of Aeronautics 2021年第11期34卷 216-227页

作者： Zexin WANG Jiang ZHAO Zhihao CAI Yingxun WANG Ningjun LIU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper addresses the robust attitude control problem for quadrotors subject to model mismatch and disturbances.A dynamic inversion based attitude control scheme is proposed,which consists of an outer loop attitude controller and an inner loop angular acceleration controller.The attitude controller is designed based on the Nonlinear Dynamic Inversion(NDI)to precisely linearize the nonlinear dynamics between the angular acceleration and the attitude.An onboard actuator model-based Incremental Nonlinear Dynamic Inversion(INDI)controller is designed in the angular acceleration control loop to improve the robustness against the model mismatch and disturbances.Meanwhile,the onboard actuator model with a modified structure eliminates the oscillation phenomenon when the sampling rate of the controller is higher than that of the actuator.Numerical simulations and flight tests demonstrate the effectiveness and robustness of the proposed controller in comparison with the PID controller.

关键词： Actuator Attitude control INDI NDI quadrotor

Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments

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Science China(Information Sciences) 2021年第7期64卷 132-147页

作者： Lele XI Zhihong PENG Lei JIAO Ben M.CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System Peng Cheng Laboratory Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we present a trajectory generation method of a quadrotor, based on the optimal smoothing B-spline, for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments. Compared to existing methods, safe flying zone,vehicle physical limits, and smoothness are fully considered to guarantee flight safety, kinodynamic feasibility, and tracking performance. To tackle the cluttered environments, a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible, with consideration of the target’s future state as well as obstacles to trade off the tracking performance and flight safety. Then, a sequential motion planning method, considering the above constraints, is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach. The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关键词： quadrotor target tracking trajectory generation B-spline convex optimization

Nonlinear robust control of a quadrotor helicopter with finite time convergence

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Control Theory and Technology 2018年第2期16卷 133-144页

作者： Guozhou ZHENG Bin XIAN School of Electrical and Information Engineering Tianjin University Tianjin 300072 China

In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor＇s attitude angles and the altitude position. Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor＇s roll angle, pitch angle, row angle and the altitude position. Real-time flight experimental results, which are performed on a quadrotor flight testbed, are included to demonstrate the good control performance of the proposed control methodology.

关键词： quadrotor nonlinear control finite time convergence real-time experiment

Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a quadrotor

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Computers, Materials & Continua 2021年第8期68卷 2265-2282页

作者： Rabii Fessi Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis EL MANARTunis1002Tunisia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities.

关键词： quadrotor cascade control fast terminal sliding mode control grey wolf optimizer nonparametric Friedman analysis

Control Strategy for a quadrotor Based on a Memetic Shuffled Frog Leaping Algorithm

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Computers, Materials & Continua 2021年第6期67卷 4081-4100页

作者： Nour Ben Ammar Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis EL MANARLe BelvédèreTunis1002Tunisia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of Electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

This work presents a memetic Shuffled Frog Leaping Algorithm(SFLA)based tuning approach of an Integral Sliding Mode Controller(ISMC)for a quadrotor type of Unmanned Aerial Vehicles(UAV).Based on the Newton–Euler formalism,a nonlinear dynamic model of the studied quadrotor is firstly established for control design purposes.Since the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law,which are usually selected by repetitive and time-consuming trials-errors based procedures,a constrained optimization problem is formulated for the systematically tuning of these unknown variables.Under time-domain operating constraints,such an optimization-based tuning problem is effectively solved using the proposed SFLA metaheuristic with an empirical comparison to other evolutionary computation-and swarm intelligence-based algorithms such as the Crow Search Algorithm(CSA),Fractional Particle Swarm Optimization Memetic Algorithm(FPSOMA),Ant Bee Colony(ABC)and Harmony Search Algorithm(HSA).Numerical experiments are carried out for various sets of algorithms’parameters to achieve optimal gains of the sliding mode controllers for the altitude and attitude dynamics stabilization.Comparative studies revealed that the SFLA is a competitive and easily implemented algorithm with high performance in terms of robustness and non-premature convergence.Demonstrative results verified that the proposed metaheuristicsbased approach is a promising alternative for the systematic tuning of the effective design parameters in the integral sliding mode control framework.

关键词： quadrotor modeling integral sliding mode control gains tuning advanced metaheuristics memetic algorithms shuffled frog leaping algorithm

Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing

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International Journal of Agricultural and Biological Engineering 2019年第4期12卷 82-87页

作者： Songchao Zhang Xinyu Xue Chen Chen Zhu Sun Tao Sun Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Key Laboratory of Modern Agricultural Equipment and Technology Ministry of EducationJiangsu UniversityZhenjiang 212013China

Unmanned aerial vehicle(UAV)has the advantages of good repeatability and high remote sensing(RS)information acquisition efficiency,as an important supplement bridging the gap of high-altitude and ground RS platforms.A quadrotor UAV was developed for the agricultural RS application in this study.The control system consists of a main processor and a coprocessor,integrating a three-axis gyroscope,a three-axis accelerometer,an air pressure sensor and a global positioning system(GPS)module.Engineering trial method(ETM)was used to tune the parameters based on the active disturbance rejection control(ADRC)method.Also a ground control station(GCS)adapted to the quadrotor was developed realizing autonomously take-off and landing,flight route planning,data recording.To investigate the performances of the UAV,several flight tests were carried out.The test results showed that the pitch angle control accuracy error was less than 4°,the flight height control accuracy error was less than 0.86 m,the flight path control accuracy error was less than 1.5 m overall.Aerial multispectral images were acquired and processed.The reflected digital number(DN)values obtained from a height of 10-100 m with 10 m interval could be referenced to classify objects.The normalized-difference-vegetation index(NDVI)values obtained from the aerial multispectral images acquired at 15 m were compared with those obtained by the GreenSeeker(GS)and PSR-1100F.The maximum error was 20.37%while the minimum error was 1.99%,which demonstrated the developed quadrotor UAV’s satisfactions for low altitude remote sensing practice.This study provided a low-cost platform for agricultural remote sensing.

关键词： UAV quadrotor ADRC agricultural remote sensing NDVI aerial spraying application

A Synthesized Design of Adaptive and Sliding-Mode Observer-Based Incipient Fault Detection for a quadrotor

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Guidance, Navigation and Control 2021年第4期1卷 48-63页

作者： Ting Li Chun Liu Zhengyan Yu Xin Zhao School of Mechatronic Engineering and Automation Shanghai UniversityShanghaiP.R.China

This study in westigatn the fault detection and fault atimation problem of a quadrotar with disturbanea.A synthesiand design of adaptive and sliding mode obeerver is propoeed to addres the efkctive detection and atimation of inepient faulta.First,the decom pased subaystems are obtalned through the coardinate transdormation,and the in Stial and ineipkent faults are sea rated from the disturbanon.Second,an adaptive obeerver is applied to the decamposd un petubad subaystem to atimate ineipient faults,while the sliding mode obearver remalns robust to disturbanos for the perturbed subaytem.Lyapumov stahility theory mmas the mavergenae o dynamic erors and the stability of the quadrotor ayatem.Pinally,the dfc tiveess of the proposed synthated algod thm of ineipient fault detection is weified by the quadrotor simulation.

关键词： quadrotor incipient fault detection coordinate transformation adaptive and sliding-mode observer

A sliding mode control algorithm based on improved super-twisting and its application to quadrotors

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Journal of Control and Decision 2023年第3期10卷 433-442页

作者： Jing Zhao Zuoyu Xie Min Xiao Fengyu Xu Zhifeng Gao College of Automation and College of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjingPeople’s Republic of China

This paper presents a fast terminal sliding mode control strategy based on improved supertwistingalgorithm (IST-FTSMC) for quadrotors with external disturbances. First, the dynamicmodel of quadrotors is described. Then, a control strategy based on fast terminal sliding modewith improved super-twisting algorithm is proposed for attitude subsystem and position subsystem.Finally, some comparative results show superior tracking performance of the proposedmethod in this paper under external disturbances.

关键词： quadrotor super-twisting sliding mode control trajectory tracking external disturbances