Adaptive nonlinear robust Control of a Novel Unconventional Unmanned Aerial Vehicle

@article{Bagheri2015AdaptiveNR,
  title={Adaptive nonlinear robust Control of a Novel Unconventional Unmanned Aerial Vehicle},
  author={Pedram Bagheri and Alejandro Ramirez-Serrano and Jeff K. Pieper},
  journal={Control. Intell. Syst.},
  year={2015},
  volume={43}
}
An adaptive nonlinear robust controller for a novel highly maneuverabledual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinea r and not originally in the control -affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control -affine form. It is assumed that the syste m is subject to unknown disturbances. Therefore, a control law enabling the… 

Figures from this paper

Design, dynamic modelling and control of tilt-rotor UAVs: a review
TLDR
A robust H-infinity loop shaping controller in the presence of disturbances is designed for VTOL UAV, and results show that the controller achieves robust stability, good adaptability and robust performance.
Design methodology for hybrid (VTOL + Fixed Wing) unmanned aerial vehicles
TLDR
Transitional aircraft extend the aircraft flight envelope, mission, and performance of a typical aircraft by incorporating the characteristics of both helicopters and fixed-wing airplanes.

References

SHOWING 1-10 OF 20 REFERENCES
A prototype of an autonomous controller for a quadrotor UAV
The paper proposes a complete real-time control algorithm for autonomous collision-free operations of the quadrotor UAV. As opposed to fixed wing vehicles the quadrotor is a small agile vehicle which
Research and application of nonlinear control techniques for quad rotor UAV
Quad rotor UAV is a classical multi-input and multi-output system, which is nonlinear, complicated and dynamically unstable. In this paper, quad rotor dynamics is considered to consist of translation
Direct Adaptive Tracking Control of Quadrotor Aerial Vehicles
This paper presents a novel adaptive control algorithm solving the trajectory tracking problem for quadrotor aerial vehicles. A model reference approach is used, such that the vehicle tracks the
Sliding Mode Control of a Quadrotor Helicopter
  • Rong Xu, Ü. Özgüner
  • Engineering, Mathematics
    Proceedings of the 45th IEEE Conference on Decision and Control
  • 2006
TLDR
Simulations show that the control law robustly stabilizes a quadrotor and a sliding mode control is proposed to stabilize a class of cascaded under-actuated systems.
Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique
TLDR
A new control approach for a quadrotor mini-helicopter using the full state backstepping technique and the design controller methodology is based on the Lyapunov stability theory.
Design and construction of a novel quad tilt-wing UAV
PID vs LQ control techniques applied to an indoor micro quadrotor
TLDR
The results of two model-based control techniques applied to an autonomous four-rotor micro helicopter called quadrotor are presented, a classical approach (PID) assumed a simplified dynamics and a modern technique based on a more complete model.
Feedback linearization and high order sliding mode observer for a quadrotor UAV
In this paper, a feedback linearization-based controller with a high order sliding mode observer running parallel is applied to a quadrotor unmanned aerial vehicle. The high order sliding mode
A nonlinear small gain theorem for the analysis of control systems with saturation
  • A. Teel
  • Mathematics
    IEEE Trans. Autom. Control.
  • 1996
A nonlinear small gain theorem is presented that provides a formalism for analyzing the behavior of certain control systems that contain or utilize saturation. The theorem is used to show that an
...
...