Attitude Control Of A Quadcopter Using Adaptive Control Technique

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Attitude Control of a Quadcopter Using Adaptive Control Technique

Author : Ramiro Ibarra Pérez
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (115 download)

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Book Synopsis Attitude Control of a Quadcopter Using Adaptive Control Technique by : Ramiro Ibarra Pérez

Download or read book Attitude Control of a Quadcopter Using Adaptive Control Technique written by Ramiro Ibarra Pérez and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter presents an adaptive control technique to stabilize the attitude dynamics of unmanned aerial vehicle (UAV) type quadrotor in the presence of disturbances and/or uncertainties in the parameters due to changes in the payload, nonlinear actuators, and change in environmental conditions. To address the above problem, MRAC (model reference adaptive control) strategy is used. In this schema, a cost function is defined as a function of the error between the output of the system and a desired response from a reference model. Based on this error, the controller parameters are updated. To guarantee the global asymptotic stability of the system, Lyapunov's theory is applied. Simulation results using MATLAB-Simulink platform are presented to demonstrate the convergence of the controller parameters.

Quadrotor Altitude and Attitude Control with Neural Network

Author : Xiao Cui
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (128 download)

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Book Synopsis Quadrotor Altitude and Attitude Control with Neural Network by : Xiao Cui

Download or read book Quadrotor Altitude and Attitude Control with Neural Network written by Xiao Cui and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, the controller design for an unmanned aerial vehicle has been attracting considerable amount of attentions and interests. In this thesis, a quadcopter has been studied intensively, and an adaptive backstepping nonlinear controller, along with altitude control using sonar sensor, has been proposed to ensure the stable flight of a quadcopter. A quadcopter consists of four motors acting as its control means. The proper thrust and air drags produced by the propellers completes the tasks to stabilize the quadcopter in the pitch, roll and yaw directions. An attitude estimation technique, the Mahony filter, was firstly implemented to yield the accurate Euler angles for the quadrotor. To understand such a complex system, the Euler-Lagrangian equations has been introduced to develop a dynamic model. Following such a mathematical model, using backstepping design technique, an adaptive nonlinear controller is designed for and implemented onto a real quadcopter. The derived mathematical model has its own uncertainties, such as changes in mass and the location of the center of the mass. Due to such a nature, an adaptive controller based on the neural network has been proposed to estimate certain nonlinear terms in the mathematical model. Successfully design and implementation of such a controller can improve the accuracy of the dynamic model. The unit quaternion representations was also used to eliminate the Gimbal Lock of the Eular angles. A different mathematical model based on Newton equations was also used to further consider the air drag effect of a quadrotor while flying in the air. Proceeding to the attitude controller design, an altitude controller is also designed to lock the flying height of the quadcopter. The design concepts are based on a traditional nonlinear backstepping method. Matlab simulation results suggest a possible implementation of the proposed controller for the quadcopter's altitude and attitude control. A couple of real time experiments have been conducted. The results was recorded and analysed.

Adaptive Robust Control Systems

Author : Anh Tuan Le
Publisher : BoD – Books on Demand
ISBN 13 : 9535137964
Total Pages : 364 pages
Book Rating : 4.5/5 (351 download)

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Book Synopsis Adaptive Robust Control Systems by : Anh Tuan Le

Download or read book Adaptive Robust Control Systems written by Anh Tuan Le and published by BoD – Books on Demand. This book was released on 2018-03-07 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the applications of robust and adaptive control approaches to practical systems. The proposed control systems hold two important features: (1) The system is robust with the variation in plant parameters and disturbances (2) The system adapts to parametric uncertainties even in the unknown plant structure by self-training and self-estimating the unknown factors. The various kinds of robust adaptive controls represented in this book are composed of sliding mode control, model-reference adaptive control, gain-scheduling, H-infinity, model-predictive control, fuzzy logic, neural networks, machine learning, and so on. The control objects are very abundant, from cranes, aircrafts, and wind turbines to automobile, medical and sport machines, combustion engines, and electrical machines.

Attitude Control for a Quadrotor UAV Using Adaptive Fuzzy Backstepping

Author : Kaiyu Zhao
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (128 download)

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Book Synopsis Attitude Control for a Quadrotor UAV Using Adaptive Fuzzy Backstepping by : Kaiyu Zhao

Download or read book Attitude Control for a Quadrotor UAV Using Adaptive Fuzzy Backstepping written by Kaiyu Zhao and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: With improvements on automation, computer, electronics and other technologies, applications of unmanned aerial vehicles (UAVs) have expanded from pure military field to civilian areas. As a multirotor aircraft, a quadrotor UAV has the advantages of simple structure, small size, high manoeuvrability, etc. On the basis of summarizing the current research situation of the quadrotor UAV, a deep research has been conducted on the attitude control system of the quadrotor UAV and two controllers are proposed to generate a stable performance: Back-stepping controller, adaptive fuzzy back-stepping nonlinear controller. The quadrotor UAV consists of two pairs of rotors and propellers, which can generate thrust and air drag. The dynamic model is derived using the Euler-Lagrangian method and Newton method with 6 degrees of freedom. To represent the model of the quadrotor, Euler angles representation is first derived. However, facing the gimbal lock drawback of Euler angles representation, unit quaternion representation is then discussed afterwards. In normal situations, model parameter uncertainties and external disturbances would affect the system output. Due to this problem, an adaptive fuzzy strategy is designed to approximate the uncertain model using back-stepping techniques with the Lyapunov stability theorem. Firstly, simulations are used to prove the mathematical feasibility. And then experimental results will be provided to illustrate the satisfactory performances of the proposed approach in real time.

Robust and Adaptive Control

Author : Eugene Lavretsky
Publisher : Springer Science & Business Media
ISBN 13 : 1447143965
Total Pages : 506 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Robust and Adaptive Control by : Eugene Lavretsky

Download or read book Robust and Adaptive Control written by Eugene Lavretsky and published by Springer Science & Business Media. This book was released on 2012-11-13 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems. The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: · case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; · detailed background material for each chapter to motivate theoretical developments; · realistic examples and simulation data illustrating key features of the methods described; and · problem solutions for instructors and MATLAB® code provided electronically. The theoretical content and practical applications reported address real-life aerospace problems, being based on numerous transitions of control-theoretic results into operational systems and airborne vehicles that are drawn from the authors’ extensive professional experience with The Boeing Company. The systems covered are challenging, often open-loop unstable, with uncertainties in their dynamics, and thus requiring both persistently reliable control and the ability to track commands either from a pilot or a guidance computer. Readers are assumed to have a basic understanding of root locus, Bode diagrams, and Nyquist plots, as well as linear algebra, ordinary differential equations, and the use of state-space methods in analysis and modeling of dynamical systems. Robust and Adaptive Control is intended to methodically teach senior undergraduate and graduate students how to construct stable and predictable control algorithms for realistic industrial applications. Practicing engineers and academic researchers will also find the book of great instructional value.

L1 Adaptive Control Theory

Author : Naira Hovakimyan
Publisher : SIAM
ISBN 13 : 0898717043
Total Pages : 333 pages
Book Rating : 4.8/5 (987 download)

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Book Synopsis L1 Adaptive Control Theory by : Naira Hovakimyan

Download or read book L1 Adaptive Control Theory written by Naira Hovakimyan and published by SIAM. This book was released on 2010-09-30 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contains results not yet published in technical journals and conference proceedings.

Modelling and Control of Robot Manipulators

Author : Lorenzo Sciavicco
Publisher : Springer Science & Business Media
ISBN 13 : 1447104498
Total Pages : 391 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Modelling and Control of Robot Manipulators by : Lorenzo Sciavicco

Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.

Variable Structure Systems

Author : Asif Sabanovic
Publisher : IET
ISBN 13 : 0863413501
Total Pages : 429 pages
Book Rating : 4.8/5 (634 download)

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Book Synopsis Variable Structure Systems by : Asif Sabanovic

Download or read book Variable Structure Systems written by Asif Sabanovic and published by IET. This book was released on 2004-10-08 with total page 429 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique book fulfils the definite need for an accessible book on variable structure systems and also provides the very latest results in research on this topic. Divided into three parts - basics of sliding mode control, new trends in sliding mode control, and applications of sliding mode control - the book contains many numerical design examples, so that readers can quickly understand the design methodologies and their applications to practical problems. Primarily aimed at students and researchers in the field, the book will also be useful for practising control engineers.

Advances in Unmanned Aerial Vehicles

Author : Kimon P. Valavanis
Publisher : Springer Science & Business Media
ISBN 13 : 1402061145
Total Pages : 552 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Advances in Unmanned Aerial Vehicles by : Kimon P. Valavanis

Download or read book Advances in Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-02-26 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.

Sliding Mode Control

Author : Andrzej Bartoszewicz
Publisher : BoD – Books on Demand
ISBN 13 : 9533071621
Total Pages : 560 pages
Book Rating : 4.5/5 (33 download)

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Book Synopsis Sliding Mode Control by : Andrzej Bartoszewicz

Download or read book Sliding Mode Control written by Andrzej Bartoszewicz and published by BoD – Books on Demand. This book was released on 2011-04-11 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area.

Unmanned Aerial Vehicles: Breakthroughs in Research and Practice

Author : Management Association, Information Resources
Publisher : IGI Global
ISBN 13 : 1522583661
Total Pages : 558 pages
Book Rating : 4.5/5 (225 download)

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Book Synopsis Unmanned Aerial Vehicles: Breakthroughs in Research and Practice by : Management Association, Information Resources

Download or read book Unmanned Aerial Vehicles: Breakthroughs in Research and Practice written by Management Association, Information Resources and published by IGI Global. This book was released on 2019-05-03 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: First used in military applications, unmanned aerial vehicles are becoming an integral aspect of modern society and are expanding into the commercial, scientific, recreational, agricultural, and surveillance sectors. With the increasing use of these drones by government officials, business professionals, and civilians, more research is needed to understand their complexity both in design and function. Unmanned Aerial Vehicles: Breakthroughs in Research and Practice is a critical source of academic knowledge on the design, construction, and maintenance of drones, as well as their applications across all aspects of society. Highlighting a range of pertinent topics such as intelligent systems, artificial intelligence, and situation awareness, this publication is an ideal reference source for military consultants, military personnel, business professionals, operation managers, surveillance companies, agriculturalists, policymakers, government officials, law enforcement, IT professionals, academicians, researchers, and graduate-level students.

Adaptive Attitude Control with Realization of Linear Error Dynamics

Author : Jian Kang
Publisher :
ISBN 13 :
Total Pages : 140 pages
Book Rating : 4.:/5 (42 download)

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Book Synopsis Adaptive Attitude Control with Realization of Linear Error Dynamics by : Jian Kang

Download or read book Adaptive Attitude Control with Realization of Linear Error Dynamics written by Jian Kang and published by . This book was released on 1999 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Attitude Control of a Quadrotor UAV

Author : Miaomiao Wang
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (128 download)

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Book Synopsis Attitude Control of a Quadrotor UAV by : Miaomiao Wang

Download or read book Attitude Control of a Quadrotor UAV written by Miaomiao Wang and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The quadrotor is a type of unmanned aerial vehicles (UAVs) which is gaining popularity over the past few years for its potential applications. Quadrotor UAVs are used, for instance, for surveillance, search and rescue missions, monuments inspection, and aerial photography. The crucial step towards a reliable application is the development of efficient attitude esti- mation and control algorithms. The primary focus of this thesis consists in investigating various attitude control techniques and their applications. A nonlinear attitude estimator and a PD-like controller have been successfully implemented on a Quadrotor UAV. However, the stability proof of the attitude observer/controller com- bination is not obvious as the system is nonlinear. To solve this problem, an attitude controller directly relying on inertial vector measurements and angular velocity has been proposed. Some practical methods such as filtering and vector decoupling were developed and discussed. Moreover, an inertial measurements based velocity-free attitude controller has been designed. Finally, real-time implementation has been conducted on a small-scale low-cost quadrotor UAV. Experimental results have been carried out to show the effectiveness of the proposed controllers and some experimental problems and further approaches of the velocity-free controller are discussed.

Adaptive Attitude Control

Author : Louisa Munn
Publisher :
ISBN 13 :
Total Pages : 164 pages
Book Rating : 4.:/5 (895 download)

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Book Synopsis Adaptive Attitude Control by : Louisa Munn

Download or read book Adaptive Attitude Control written by Louisa Munn and published by . This book was released on 2001 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Adaptive Attitude Control Using Fixed and Dynamically Structured Neural Networks

Author : Robert M. Sanner
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Adaptive Attitude Control Using Fixed and Dynamically Structured Neural Networks by : Robert M. Sanner

Download or read book Adaptive Attitude Control Using Fixed and Dynamically Structured Neural Networks written by Robert M. Sanner and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Aerial Manipulation

Author : Matko Orsag
Publisher : Springer
ISBN 13 : 3319610228
Total Pages : 246 pages
Book Rating : 4.3/5 (196 download)

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Book Synopsis Aerial Manipulation by : Matko Orsag

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Biologically Inspired Adaptive Control of Quadcopter Flight

Author : Brent Komer
Publisher :
ISBN 13 :
Total Pages : 53 pages
Book Rating : 4.:/5 (946 download)

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Book Synopsis Biologically Inspired Adaptive Control of Quadcopter Flight by : Brent Komer

Download or read book Biologically Inspired Adaptive Control of Quadcopter Flight written by Brent Komer and published by . This book was released on 2015 with total page 53 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis explores the application of a biologically inspired adaptive controller to quadcopter flight control. This begins with an introduction to modelling the dynamics of a quadcopter, followed by an overview of control theory and neural simulation in Nengo. The Virtual Robotics Experimentation Platform (V-REP) is used to simulate the quadcopter in a physical environment. Iterative design improvements leading to the final controller are discussed. The controller model is run on a series of benchmark tasks and its performance is compared to conventional controllers. The results show that the neural adaptive controller performs on par with conventional controllers on simple tasks but exceeds far beyond these controllers on tasks involving unexpected external forces in the environment.