Stabilization of a Quadrotor Vehicle Using PD and Recursive Nonlinear Control Techniques
(*) Corresponding author
This paper presents a comparison between two control techniques applied to an autonomous quadrotor vehicle. The main goal is to achieve hovering by stabilizing the quadrotor’s attitude and altitude. First, nonlinear model of the vehicle is presented, taking into consideration the gyroscopic effects. Then, two control strategies are used, a classical PD controller and a modern nonlinear controller using a "recursive" State-Dependent Riccati Equation (SDRE). The latter consists in applying the Kleinman-Newton algorithm in order to recursively solve the SDRE. Varied simulation is performed starting from different initial conditions. The results show that the recursive nonlinear method performs better than the linear one, mainly by maintaining the stability of the system in the presence of disturbances and with "too far from origin" initial conditions.
Copyright © 2021 Praise Worthy Prize - All rights reserved.
B. J. Emran and H. Najjaran, A review of quadrotor: An underactuated mechanical system, Annual Reviews in Control. 2018.
Kim, Y., Lee, S., Park, T., High-Speed Video Data Encryption on LTE-Based Swarm UAS, (2018) International Review of Aerospace Engineering (IREASE), 11 (5), pp. 186-193.
Y. Ren, K. Li, and H. Ye, Modeling and anti-swing control for a helicopter slung-load system, Appl. Math. Comput., vol. 372, p. 124990, 2020.
Loubar, H., Boushaki, R., Aouati, A., Bouanzoul, M., Sliding Mode Controller for Linear and Nonlinear Trajectory Tracking of a Quadrotor, (2020) International Review of Automatic Control (IREACO), 13 (3), pp. 128-138.
W. Zhou, B. Li, J. Sun, C. Y. Wen, and C. K. Chen, Position control of a tail-sitter UAV using successive linearization based model predictive control, Control Eng. Pract., vol. 91, 2019.
Bunjaku, D., Nadzinski, G., Stankovski, M., Stefanovski, J., Dynamic Modeling and Flight Control Design for Multicopter, (2018) International Review of Aerospace Engineering (IREASE), 11 (5), pp. 224-235.
Krafes, S., Chalh, Z., Saka, A., Visual Servoing of a Spherical Inverted Pendulum on a Quadrotor Using Backstepping Controller, (2018) International Review of Aerospace Engineering (IREASE), 11 (1), pp. 6-14.
P. Castillo, R. Lozano, and A. Dzul, Stabilization of a Mini Rotorcraft with Four Rotors, IEEE Control Syst., vol. 25, no. 6, pp. 45-55, 2005.
Han, M., Park, T., Integrated Airworthiness Certification Criteria and Security Risk Assessment for UAVs, (2019) International Review of Aerospace Engineering (IREASE), 12 (3), pp. 141-149.
S. Zhang, X. Zhao, and B. Zhou, Robust Vision-Based Control of a Rotorcraft UAV for Uncooperative Target Tracking, Sensors, vol. 20, no. 12, p. 3474, 2020.
S. Bouabdallah, A. Noth, and R. Siegwart, PID vs LQ control techniques applied to an indoor micro Quadrotor, in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, vol. 3.
Kramar, V., Alchakov, V., Kabanov, A., Dudnikov, S., Dmitriev, A., The Design of Optimal Lateral Motion Control of an UAV Using the Linear-Quadratic Optimization Method in the Complex Domain, (2020) International Review of Aerospace Engineering (IREASE), 13 (6), pp. 217-227.
M. H. Korayem and S. R. Nekoo, Finite-time state-dependent Riccati equation for time-varying nonaffine systems: Rigid and flexible joint manipulator control, ISA Trans., vol. 54, pp. 125-144, 2015.
Bressan, D., Ribeiro, M., Lenzi, G., Balthazar, J., Tusset, A., A Note on SDRE Control Applied in the Fermentation Reactor, (2019) International Review of Mechanical Engineering (IREME), 13 (10), pp. 576-586.
D. Kleinman, On an iterative technique for Riccati equation computations, IEEE Trans. Automat. Contr., vol. 13, no. 1, pp. 114-115, Feb. 1968.
P. K. Menon, T. Lam, L. S. Crawford, and V. H. L. Cheng, Real-time computational methods for SDRE nonlinear control of missiles, Proc. Am. Control Conf., vol. 1, 2002.
B. Ciubotaru and M. Staroswiecki, Fault tolerant control of the B747 short-period mode using progressive accommodation, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006, pp. 3288-3294.
M. Staroswiecki, H. Yang, and B. Jiang, Progressive accommodation of parametric faults in linear quadratic control, Automatica, vol. 43, no. 12, 2007.
Actuator fault accommodation with optimal control for a class of nonlinear systems, Int. Rev. Autom. Control, vol. 5, no. 2, 2012.
Ghachem, s., Benothman, K., Benrejeb, M., Actuator fault accommodation with optimal control for a class of nonlinear systems, (2012) International Review of Automatic Control (IREACO), 5 (2), pp. 274-283.
T. Bresciani, Modelling, identification and control of a quadrotor helicopter, MSc Thesos, 2008.
Please send any question about this web site to firstname.lastname@example.org
Copyright © 2005-2023 Praise Worthy Prize