scholarly journals Geometric control of quadrotor UAVs using integral backstepping

2021 ◽  
Vol 22 (1) ◽  
pp. 53
Author(s):  
Ali Bouchaib ◽  
Rachid Taleb ◽  
Ahmed Massoum ◽  
Saad Mekhilef
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Level Control ◽  
Control Laws ◽  
System Nonlinearity ◽  
System Robustness ◽  
The Stability ◽  
High Level ◽  
High Degree ◽  
Quaternion Representation

The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree of coupling. This paper provides a solution to the two issues by employing a geometrical integral-backstepping control system. The integral terms were added to improve system ability to track desired trajectories. The high-level control laws are considered as a virtual control and transmitted to the low-level to track the high-level commands. The proposed control system along with the quadcopter dynamic model were expressed in the special Euclidean group SE(3). Finally, the control system robustness against mismatching parameters was studied while tracking various paths.

Adaptive coordinated leader–follower control of autonomous over-actuated electric vehicles

2016 ◽  
Vol 39 (12) ◽  
pp. 1798-1810 ◽  
Author(s):  
Jinghua Guo ◽  
Yugong Luo ◽  
Keqiang Li
Keyword(s):  
Control System ◽  
Electric Vehicles ◽  
Formation Control ◽  
Level Control ◽  
Inverse Control ◽  
Level Control System ◽  
Actuation System ◽  
Uniform Ultimate Boundedness ◽  
The Stability ◽  
High Level

In this paper, the leader–follower formation control problem of autonomous over-actuated electric vehicles on a highway is studied. As the autonomous over-actuated electric vehicles have the characteristics of non-linearities, external disturbances and strong coupling, a novel coordinated three-level control system is constructed to supervise the longitudinal and lateral motions of autonomous electric vehicles. Firstly, an adaptive terminal sliding high-level control algorithm is designed to compute a vector of total forces and torque of vehicles, and the stability of the high-level control system is proven via Lyapunov analysis where uniform ultimate boundedness of the closed-loop signals is guaranteed. Then, a pseudo-inverse control allocation algorithm, which can achieve fault tolerance and reconfiguration of the redundant tyre actuation system, is presented to generate the desired longitudinal and lateral tyre forces. Then, a separate low-level controller consisting of an inverse tyre model and two inner loops for each wheel is designed to achieve its desired forces. Finally, simulation results demonstrate that the proposed control system not only enhance the tracking performance, but also improve the stability and riding comfort of autonomous over-actuated electric vehicles in a platoon.

Modeling and Experimental Testing of Hoverboard Dynamic Behavior

2017 ◽  
Author(s):  
Arnoldo Castro ◽  
William Singhose ◽  
Xiaoshu Liu ◽  
Khalid Sorensen ◽  
Eun Chan Kwak
Keyword(s):  
Dynamic Model ◽  
Dynamic Behavior ◽  
Motion Capture ◽  
Environmental Conditions ◽  
Experimental Testing ◽  
Motion Capture Data ◽  
Control Laws ◽  
Operator Action ◽  
The Stability ◽  
Unexpected Behavior

Self-balancing human transporters are naturally unstable. However, when coupled with sophisticated control laws, these machines can provide mobility within a finite stability envelope. Challenging environmental conditions, or unanticipated operator action, can cause these machines to exhibit unexpected behavior. In an effort to better understand the behavior of these systems inside and outside the stability envelope, a dynamic model of a hoverboard is presented. Motion-capture data is also presented in which an operator’s interactions with the hoverboard were recorded.

scholarly journals Novel Voltage-Based Weighted Hybrid Force/Position Control for Redundant Robot Manipulators

Electronics ◽  
2022 ◽  
Vol 11 (2) ◽  
pp. 179
Author(s):  
Jun Dai ◽  
Yi Zhang ◽  
Hua Deng
Keyword(s):  
Dynamic Model ◽  
Control Algorithm ◽  
Position Control ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Lyapunov Stability Theory ◽  
Control Laws ◽  
Redundant Robot ◽  
Transport Experiment ◽  
The Stability

Existing hybrid force/position control algorithms mostly explicitly contain a dynamic model. Moreover, force and position controllers will be switched frequently. To solve the above problems, a novel voltage-based weighted hybrid force/position control algorithm is proposed for redundant robot manipulators. Firstly, mapping between voltage and terminal position and orientation is established so that the designed controller can be simplified by adopting the motor current as the feedback to replace the tedious calculation of the dynamic model. Secondly, a voltage-based weighted hybrid force/position control algorithm is proposed to eliminate the selection matrix. Force and position control laws are summed directly through a weighted way to avoid the problems of space decomposition and switching. Thirdly, the stability is proven using Lyapunov stability theory, then the selection method for weighted coefficient is provided. Fourthly, comparative simulations are performed. Results show that the proposed algorithm is suitable for impedance control and hybrid force/position control and can compensate for their deficiencies. Lastly, the transport experiment in the YZ plane is conducted. Results show that position and force accuracies in the Y- and Z-axis directions are 3.489 × 10−4 and 7.313 × 10−4 m and 1.238 × 10−1 and 1.997 × 10−1 N, respectively. Accordingly, it can effectively improve the operation capability and control accuracy.

scholarly journals Development and Implementation of a High-Level Control System for the Underwater Remotely Operated Vehicle VISOR3

2017 ◽  
Vol 50 (1) ◽  
pp. 1151-1156 ◽  
Author(s):  
Álvaro Gómez ◽  
Luis M. Aristizábal ◽  
Carlos A. Zuluaga ◽  
Julio C. Correa ◽  
Rafael E. Vásquez
Keyword(s):  
Control System ◽  
Level Control ◽  
Remotely Operated Vehicle ◽  
Level Control System ◽  
High Level

Automatically Controlled Anti-Collision Manoeuvre and its Numerical Simulation with Disturbances

2013 ◽  
Vol 210 ◽  
pp. 156-165
Author(s):  
Jerzy Graffstein
Keyword(s):  
Numerical Simulation ◽  
Control System ◽  
Automatic Control ◽  
Numerical Simulations ◽  
Abrupt Change ◽  
State Variables ◽  
Control Laws ◽  
Analysis Of Results ◽  
System Robustness ◽  
And Control

The article presents the discussion focused on specific features of the problem of flying objects motion when performing an example of anti collision manoeuvre. To realise this task, the structure of automatic control system with appropriate control laws are proposed. The nature of discussed manoeuvre needs the appropriate numerical method for computing desired values of state variables for subsequent phases of objects motion. These values are obtained adequately for their roles in several phases of motion. Numerical simulations are completed for the aircraft performing the anti collision manoeuvre consisted in abrupt change of yaw. Objects behaviour was tested in case of motion affected by disturbances. The analysis of results obtained by numerical simulations makes possible conclusions on stability of objects motion and control system robustness to assumed kind and level of disturbances.

scholarly journals CONTROLLERS FOR FAULT TOLERANT ACTUATORS

Aviation ◽  
2007 ◽  
Vol 11 (1) ◽  
pp. 23-27 ◽  
Author(s):  
Bogusław Dołega ◽  
Paweł Rzucidło
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Control Algorithms ◽  
Equipment Failure ◽  
Aircraft Control ◽  
Level Control ◽  
Control Laws ◽  
Handling Qualities ◽  
Effective Dynamics ◽  
High Level

The Fly‐by‐Wire technology enables flexible shaping of both effective dynamics and handling qualities of aircraft. This solution extends aircraft possibilities and supports the pilot by use of high‐level control laws. Application of FBW for aircraft would make flying both safer, and more popular. On the other hand the FBW system must be highly reliable. Advanced indirect flight control technology requires the use of actuators characterized by fault tolerant architecture. It should enable improvement of reliability of the aircraft control system and safety of performed flights effectively. The Electromechanical Actuator (EMA) consists of the electric motor, gearbox and controller. The actuator controller should be made intrinsically reliable and should be insensitive to other equipment failure. The conception of fault tolerant control algorithms as well as practical realization of it has been presented in this work. Tests of reliability of the complete EMA unit have also been presented herein.

scholarly journals Development of a Low-Level Control System for the ROV Visor3

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Santiago Rúa ◽  
Rafael E. Vásquez
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Nonlinear Observer ◽  
Navigation Systems ◽  
Level Control ◽  
Remotely Operated Vehicle ◽  
Low Level ◽  
Level Control System ◽  
High Level ◽  
And Control

This paper addresses the development of the simulation of the low-level control system for the underwater remotely operated vehicle Visor3. The 6-DOF mathematical model of Visor3 is presented using two coordinated systems: Earth-fixed and body-fixed frames. The navigation, guidance, and control (NGC) structure is divided into three layers: the high level or the mission planner; the mid-level or the path planner; and the low level formed by the navigation and control systems. The nonlinear model-based observer is developed using the extended Kalman filter (EKF) which uses the linearization of the model to estimate the current state. The behavior of the observer is verified through simulations using Simulink®. An experiment was conducted with a trajectory that describes changes in the x and y and yaw components. To accomplish this task, two algorithms are compared: a multiloop PID and PID with gravity compensation. These controllers and the nonlinear observer are tested using the 6-DOF mathematical model of Visor3. The control and navigation systems are a fundamental part of the low-level control system that will allow Visor3’s operators to take advantage of more advanced vehicle’s capabilities during inspection tasks of port facilities, hydroelectric dams, and oceanographic research.

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