ADAPTIVE NONLINEAR ROBUST CONTROL OF A NOVEL UNCONVENTIONAL UNMANNED AERIAL VEHICLE

Pedram Bagheri, Alejandro Ramirez-Serrano, and Jeff K. Pieper

References

  1. [1] S. Bouabdallah and R. Siegwart, Full control of a quadrotor,Proc. 2007 IEEE/RSJ International Conf. on Intelligent Robotsand Systems, San Diego, CA, 2007, 153–158.
  2. [2] P. McKerrow, Modelling the draganflyer four-rotor helicopter,Proc. 2004 IEEE Conf. on Robotics and Automation, NewOrleans, LA, 2004, 3596–3601.
  3. [3] Q. HU, Q. Fei, Q. Wu, and Q. Geng, Research and applicationof nonlinear control techniques for quad rotor UAV, Proc. 31stChinese Control Conference, Hefei, China, 2012, 706–710.
  4. [4] E. Cetinsoy, S. Dikyar, C. Hancer, K.T. Oner, E. Sirimoglu,M. Unel, and M.F. Aksit, Design and construction of a novelquad tilt-wing UAV, Journal of Mechatronics, 22(6), 2012,723–745.
  5. [5] G.R. Gress, Lift fans as gyroscopes for controlling compactVTOL air vehicles: Overview and development status of obliqueactive tilting, Proc. 63rd Annual Forum of the AmericanHelicopter Society, Virginia, VA, 2007.
  6. [6] I.D. Cowling, O.A. Yakimenko, J.F. Whidborne, and A.K.Cooke, A prototype of an autonomous controller for a quadrotorUAV, Proc. European Control Conf., Kos, Greece, 2007, 1–8.
  7. [7] X. Lei, L. Bai, Y. Du, C. Miao, Y. Chen, and T. Wang,A small unmanned polar research aerial vehicle based on thecomposite control method, Journal of Mechatronics, 21(5),2011, 821–830.
  8. [8] T. Sangyam, P. Laohapiengsak, W. Chongcharoen, andI. Nilkhamhang, Path tracking of UAV using self tuning PIDcontroller based on fuzzy logic, Proc. SICE Annual Conf.,Taipei, Taiwan, 2010, 1265–1269.
  9. [9] S. Bouabdallah, A. Noth, and R. Siegwart, Pid VS LQ con-trol techniques applied to an indoor micro quadrotor, Proc.2004 IEEE/RSJ International Conf. on Intelligent Robots andSystems, Sendal, Japan, 2004, 2451–2456.
  10. [10] E. Altug and C. Taylor, Vision-based pose estimation andcontrol of a model helicopter, Proc. 2004 IEEE InternationalConf. on Mechatronics, Istanbul, Turkey, 2004. 316–321.
  11. [11] A. Benallegue, A. Mokhtari, and L. Fridman, Feedback lin-earization and high order sliding mode observer for a quadrotoruav, Proc. 2006 International Workshop on Variable StructureSystems, Alghero, Italy, 2006, 365–372.
  12. [12] T. Madani and A. Benalleque, Control of a quadrotor mini-helicopter via full state backstepping technique, Proc. 45thIEEE Conf. on Decision and Control, San Diego, CA, 2006,1515–1520.
  13. [13] A.R. Teel, A nonlinear small gain theorem for the analysisof control systems with saturation, IEEE Transactions onAutomatic Control, 41(9), 1996, 1256–1270.
  14. [14] P. Martin, S. Devasia, and B. Paden, A different look at outputtracking: Control of a VTOL aircraft, Automatica, 32(1), 1996,101–107.
  15. [15] O. Shakernia, Y. Ma, T.J. Koo, and S. Sastry, Landingan unmanned air vehicle: Vision based motion estimationand nonlinear control, Asian Journal of Control, 1(3), 1999,128–145.
  16. [16] L. Marconi, A. Isidori, and A. Serrani, Autonomous verticallanding on an oscillating platform: an internal-model basedapproach, Automatica, 38(1), 2002, 21–32.
  17. [17] N. Guenard, T. Hamel, and R. Mahony, A practical visual servocontrol for an unmanned aerial vehicle, IEEE Transactions onRobotics, 24(2), 2008, 331–340.
  18. [18] T.L. Chien, C.C. Chen, and Y.J. Chen, Tracking and almostdisturbance decoupling control for some class of nonlinearsystems with mismatch uncertainties, Journal of Control andIntelligent Systems, 35(2), 2007, 183–191.
  19. [19] S. Baqqali, and M. Makoudi, Decentralized adaptive controlfor a class of nonlinear continuous time interconnected systemsusing neural networks, Journal of Control and IntelligentSystems, 35(1), 2007, 1–8.
  20. [20] Y. Morel, and A. Leonessa, Direct adaptive tracking control ofquadrotor aerial vehicles, Proc. 2006 Florida Conf. on RecentAdvances in Robotics, Miami, FL, 2006, 1–6.
  21. [21] W. Mackunis, Z.D. Wilcox, M.K. Kaiser, and W.E. Dixon,Global adaptive output feedback tracking control of an un-manned aerial vehicle, IEEE Transactions on Control SystemsTechnology, 18(6), 2010, 1390–1397.
  22. [22] M. Mohammadi and A.M. Shahri, Adaptive nonlinear stabi-lization control for a quadrotor UAV: Theory, simulation andexperimentation, Journal of Intelligent and Robotic Systems,72(1), 2013, 105–122.
  23. [23] A. Das, F. Lewis, and S. Subbarao, Dynamic neural networkbased robust backstepping control approach for quadrotors,Proc. 2008 AIAA Conf. on Guidance, Navigation and Control,Honolulu, Hawaii, 2008.
  24. [24] R. Xu, and U. Ozquner, Sliding mode control of a quadrotorhelicopter, Proc. IEEE 45th Conf. on Decision and Control,San Diego, CA, 2006, 4957–4962.
  25. [25] P. Bagheri, Adaptive control of nonlinear mechanical systems:With applications to UAVs (Calgary: University of Calgary,2014).
  26. [26] N. Amiri, A.R. Serrano, and R. Davies, Modelling of opposedlateral and longitudinal tilting dual-fan unmanned aerial ve-hicle, Proc. 18th IFAC World Congress, Milano, Italy, 2011,2054–2059.40

Important Links:

Go Back