Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles(UAVs).Nowadays,people actively use quadrotor UAVs in essential missions such as search and rescue,co...Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles(UAVs).Nowadays,people actively use quadrotor UAVs in essential missions such as search and rescue,counter-terrorism,firefighting,surveillance,and cargo transportation.While performing these tasks,quadrotors must operate in noisy environments.Therefore,a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great importance.Many researchers have focused only on white Gaussian noise in their studies,whereas researchers need to consider the effects of all colored noises during the operation of the quadrotor.This study aims to design a robust controller that is resistant to all colored noises.Firstly,a nonlinear quadrotormodel was created with MATLAB.Then,a backstepping controller resistant to colored noises was designed.Thedesigned backstepping controller was tested under Gaussian white,pink,brown,blue,and purple noises.PID and Lyapunov-based controller designswere also carried out,and their time responses(rise time,overshoot,settling time)were compared with those of the backstepping controller.In the simulations,time was in seconds,altitude was in meters,and roll,pitch,and yaw references were in radians.Rise and settling time values were in seconds,and overshoot value was in percent.When the obtained values are examined,simulations prove that the proposed backstepping controller has the least overshoot and the shortest settling time under all noise types.展开更多
The paper presents a two-layer,disturbance-resistant,and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aer...The paper presents a two-layer,disturbance-resistant,and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aerial Vehicles(QUAVs).This scheme mainly consists of predefinedtime estimators and fixed-time tracking controllers,with a hybrid Laplacian matrix describing the communication among these QUAVs.At the first layer,we devise predefined time estimators for leading and following QUAVs,enabling accurate estimation of desired information.In the second layer,we initially devise a fixed-time hybrid observer to estimate unknown disturbances and actuator faults.Fixedtime translational tracking controllers are then proposed,and the intermediary control input from these controllers is used to extract the desired attitude and angular velocities for the fixed-time rotational tracking controllers.We employ an exact tracking differentiator to handle variables that are challenging to differentiate directly.The paper includes a demonstration of the control system stability through mathematical proof,as well as the presentation of simulation results and comparative simulations.展开更多
Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy a...During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy adaptive PID controller(Fuzzy PID)combining PID control with fuzzy logic to achieve self-adaptive adjustment of PID parameters in UAV flight control systems,thereby enhancing system robustness.A quadrotor UAV control model was developed in Simulink,and a Fuzzy PID control system was constructed by integrating fuzzy control logic for simulation and experimental validation.Test results demonstrate that UAVs governed by Fuzzy PID control exhibit faster regulation speed and improved stability when subjected to disturbances.展开更多
This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars...This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.展开更多
In this article, a nonlinear model of an underactuated six degrees of freedom （6 DOF） quadrotor helicopter is derived on the basis of the Newton-Euler formalism. The derivation comprises determining equations of the...In this article, a nonlinear model of an underactuated six degrees of freedom （6 DOF） quadrotor helicopter is derived on the basis of the Newton-Euler formalism. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The derived model composed of translational and rotational subsystems is dynamically unstable, so a sequential nonlinear control strategy is used. The control strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor. The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in quasi-stationary flights.展开更多
In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the ...In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the attitudes of the quadrotor UAVs.Separating the model into a translational subsystem and a rotational subsystem,an intermediary control input is introduced to track a desired velocity and extract desired orientations.Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs,the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping,by which the bounded control thrust and the desired orientation can be extracted.Thereafter,an adaptive control torque input is designed for the rotational subsystem to track the desired orientation.With the proposed control scheme,the desired velocity is tracked and a desired formation shape is built up.Global stability of the closed-loop system is proven via Lyapunov-based stability analysis.Numerical simulation results are presented to illustrate the effectiveness of the proposed control scheme.展开更多
A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quad...A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then,based on active disturbance rejection control(ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer(ESO)and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.展开更多
文摘Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles(UAVs).Nowadays,people actively use quadrotor UAVs in essential missions such as search and rescue,counter-terrorism,firefighting,surveillance,and cargo transportation.While performing these tasks,quadrotors must operate in noisy environments.Therefore,a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great importance.Many researchers have focused only on white Gaussian noise in their studies,whereas researchers need to consider the effects of all colored noises during the operation of the quadrotor.This study aims to design a robust controller that is resistant to all colored noises.Firstly,a nonlinear quadrotormodel was created with MATLAB.Then,a backstepping controller resistant to colored noises was designed.Thedesigned backstepping controller was tested under Gaussian white,pink,brown,blue,and purple noises.PID and Lyapunov-based controller designswere also carried out,and their time responses(rise time,overshoot,settling time)were compared with those of the backstepping controller.In the simulations,time was in seconds,altitude was in meters,and roll,pitch,and yaw references were in radians.Rise and settling time values were in seconds,and overshoot value was in percent.When the obtained values are examined,simulations prove that the proposed backstepping controller has the least overshoot and the shortest settling time under all noise types.
基金supported by Natural Science Basic Research Plan in Shaanxi Province of China(No.2023-JC-QN-0733)Guangdong Basic and Applied Basic Research Foundation,China(No.2022A1515110753)+2 种基金China Postdoctoral Science Foundation(No.2022M722583)China Industry-UniversityResearch Innovation Foundation(No.2022IT188)National Key Laboratory of Air-based Information Perception and Fusion and the Aeronautic Science Foundation of China(No.20220001068001)。
文摘The paper presents a two-layer,disturbance-resistant,and fault-tolerant affine formation maneuver control scheme that accomplishes the surrounding of a dynamic target with multiple underactuated Quadrotor Unmanned Aerial Vehicles(QUAVs).This scheme mainly consists of predefinedtime estimators and fixed-time tracking controllers,with a hybrid Laplacian matrix describing the communication among these QUAVs.At the first layer,we devise predefined time estimators for leading and following QUAVs,enabling accurate estimation of desired information.In the second layer,we initially devise a fixed-time hybrid observer to estimate unknown disturbances and actuator faults.Fixedtime translational tracking controllers are then proposed,and the intermediary control input from these controllers is used to extract the desired attitude and angular velocities for the fixed-time rotational tracking controllers.We employ an exact tracking differentiator to handle variables that are challenging to differentiate directly.The paper includes a demonstration of the control system stability through mathematical proof,as well as the presentation of simulation results and comparative simulations.
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金The 2023 Scientific and Technological Project in Henan Province of China(232102220098)。
文摘During flight operations,quadrotor UAVs are susceptible to interference from environmental factors such as wind gusts,battery depletion,and obstacles,which may compromise flight stability.This study proposes a fuzzy adaptive PID controller(Fuzzy PID)combining PID control with fuzzy logic to achieve self-adaptive adjustment of PID parameters in UAV flight control systems,thereby enhancing system robustness.A quadrotor UAV control model was developed in Simulink,and a Fuzzy PID control system was constructed by integrating fuzzy control logic for simulation and experimental validation.Test results demonstrate that UAVs governed by Fuzzy PID control exhibit faster regulation speed and improved stability when subjected to disturbances.
基金supported by the National Key Research and Development Program of China(2022YFA1004703)the National Natural Science Foundation of China(62088101).
文摘This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.
基金Higher Education Commission,Government of Paki-stan(1-3/PM-OVER/China/2005)
文摘In this article, a nonlinear model of an underactuated six degrees of freedom （6 DOF） quadrotor helicopter is derived on the basis of the Newton-Euler formalism. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The derived model composed of translational and rotational subsystems is dynamically unstable, so a sequential nonlinear control strategy is used. The control strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor. The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in quasi-stationary flights.
基金supported by the National Natural Science Foundation of China(No.61374048)
文摘In this paper,the flight formation control problem of a group of quadrotor unmanned aerial vehicles（UAVs） with parametric uncertainties and external disturbances is studied.Unitquaternions are used to represent the attitudes of the quadrotor UAVs.Separating the model into a translational subsystem and a rotational subsystem,an intermediary control input is introduced to track a desired velocity and extract desired orientations.Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs,the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping,by which the bounded control thrust and the desired orientation can be extracted.Thereafter,an adaptive control torque input is designed for the rotational subsystem to track the desired orientation.With the proposed control scheme,the desired velocity is tracked and a desired formation shape is built up.Global stability of the closed-loop system is proven via Lyapunov-based stability analysis.Numerical simulation results are presented to illustrate the effectiveness of the proposed control scheme.
基金supported by the National Natural Science Foundation of China(61573282)the Foundation of the Education Department of Sichuan Province(16ZA0132)the Foundation of Robot Technology Used for Special Environment,Key Laboratory of Sichuan Province(13zxtk06)
文摘A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then,based on active disturbance rejection control(ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer(ESO)and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.
