Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Nonlinear Attitude Control for Uncertain Quad-rotors Using a Global Approximation-Free Control Scheme

GAFC 비선형 제어기법을 적용한 쿼드로터의 자세 및 고도제어

  • 김영욱 (조선대학교 항공우주공학과) ;
  • 박성용 (조선대학교 항공우주공학과) ;
  • 이현재 (조선대학교 항공우주공학과)
  • Received : 2016.05.13
  • Accepted : 2016.08.23
  • Published : 2016.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

A nonlinear control law for the quad-rotor of a low-complexity, global approximation-free from system uncertainties and external disturbances are described in this paper. The control law guarantees convergence to a small bounded error using a prescribed performance function. The stability of the proposed nonlinear control system is also proven by the Lyapunov stability theorem. The advantage of this technique is that it has a simpler form than any other nonlinear compensators and is applicable to any nonlinear systems without precise knowledge of the systems. In this paper, the proposed approach is applied to attitude/altitude control of a quad-rotor. Numerical simulations are performed to investigate the proposed nonlinear attitude control law by applying it to an uncertain quadcopter system with external disturbances.

Keywords

References

  1. H. Bolandi, M. Rezaei, R. Mohsenipour, H. Nemati, and S. Smailzadeh, "Attitude control of a quadrotor with optimized PID controller," Intelligent Control and Automation, vol. 4, no. 3, pp. 335-342, Aug. 2013. https://doi.org/10.4236/ica.2013.43039
  2. E. Reyes-Valeria, R. Enriquez-Caldera, S. Camacho-Lara, and J. Guichard, "LQR control for a quadrotor using unit quaternions: Modeling and simulation," Electronics, Communications and Computing (CONIELECOMP), 2013 International Conference on, pp. 172-178, 2013.
  3. R. Xu and U. Ozguner, "Sliding mode control of a quadrotor helicopter," Decision and Control, 2006 45th IEEE Conference on, San Diego, CA, pp. 4957-4962, 2006.
  4. T. Madani and A. Benallegue, "Backstepping control for a quadrotor helicopter," Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, Beijing, pp. 3255-3260, 2006.
  5. M. O. Efe, "Neural network assisted computationally simple PID control of a quadrotor UAV," IEEE Transactions on Industrial Informatics, vol. 7, no. 2, pp. 354-361, May 2011. https://doi.org/10.1109/TII.2011.2123906
  6. T. S. Kang, K. J. Yoon, T. H. Ha, and G. G. Lee, "H-infinity control system design for a quad-rotor," Journal of Institute of Control, Robotics and Systems, vol. 21, no.1, pp. 14-20, Jan. 2015. https://doi.org/10.5302/J.ICROS.2015.14.9054
  7. C. P. Bechlioulis and G. A. Rovithakis, "A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems," Automatica, vol. 50, no. 4, pp. 1217-1226, 2014. https://doi.org/10.1016/j.automatica.2014.02.020
  8. A. F. Sorensen, Autonomous Control of a Miniature Quadrotor Following Fast Trajectories, Master's Thesis, Aalborg University, U.C. Berkeley, Jun. 2010.
  9. J. G. Lim and S. Jung, "Altitude control of a quad-rotor system by using a time-delayed control method," Journal of Institute of Control, Robotics and Systems, vol. 20, no.7, pp. 724-729, Jul. 2014. https://doi.org/10.5302/J.ICROS.2014.13.1947
  10. B. L. Stevens and F. L. Lewis, Aircraft Control and Simulation, John Wiley & Sons, pp. 34-35, 1992.
  11. G. M. Siouris, Aerospace Avionics Systems, Academic Press, pp. 24-26.
  12. B. Wie, Space Vehicle Dynamics and Control, 2rd Ed., the American Institute of Aeronautics and Astronautics, Inc., United States of America, 2008.
  13. H. K. Khalil, Nonlinear Systems, Prentice Hall, Upper Saddle River, NJ, 1996.
  14. B. W. Kim, S. J. Hwang, and B. S. Park, "A low-complexity controller design for Segway," KIEE. Conference, pp. 1339-1340, Jul. 2015.
  15. Z. Zuo, "Trajectory tracking control design with command-filtered compensation for a quadrotor," IET Control Theory & Applications, vol. 4, no. 11, pp. 2343-2355, Nov. 2010. https://doi.org/10.1049/iet-cta.2009.0336