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Image-based prescribed performance visual servoing control of a QUAV with hysteresis quantised input

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2023年第8期54卷 1774-1789页

作者： Chen, Jiannan Sun, Fuchun Hua, Changchun Yanshan Univ Sch Elect Engn Qinhuangdao Peoples R China Tsinghua Univ Dept Comp Sci & Technol Beijing Peoples R China

In this paper, a novel image-based prescribed performance visual servoing control scheme with hysteresis quantised input is proposed for quadrotor unmanned aerial vehicles (QUAVs, for short). First, based on the perspective projection principle, effective image features are defined on a image plane called virtual image plane, and the decoupled image feature dynamics are achieved with respect to target points. Then, the image feature dynamics and QUAV dynamics are combined to derive a nonlinear dynamic system, and the nonlinear system is decoupled into two subsystems based on the commonly used inner-outer loop control framework. Furthermore, the prescribed performance control-based visual servoing control scheme with hysteresis quantizer is designed, and the necessary stability proof is presented. Finally, the numerical simulations and experiments are conducted to validate the effectiveness of the proposed control scheme.

关键词： Hysteresis quantizer image-based visual servo inner-outer loop control prescribed performance control

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Reinforcement Learning-Based Distributed Optimal Formation Tracking control for Underactuated AUVs

Reinforcement Learning-Based Distributed Optimal Formation T...

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第43届中国控制会议

作者： Jing Wang Zhengkun Wang College of Intelligent Systems Science and Engineering Harbin Engineering University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The multiple underactuated autonomous underwater vehicles(AUVs) are desirable to minimize energy consumption while ensuring optimal formation tracking performance. This paper explores the distributed optimal formation tracking control problem using an inner-outer loop control approach integrated with reinforcement learning(RL). In the outer loop, optimal virtual controllers are engineered to enable the multi-AUV to track a desired trajectory while holding the desired formation, while in the inner loop, optimal controllers are devised to ensure the tracking of the desired velocities. An RL algorithm is introduced to optimize the trade-off between AUV tracking performance and energy consumption. Critic-actor neural networks(NNs) are subsequently employed for the online implementation of the RL algorithm. A simulation study is finally provided to demonstrate the effectiveness of the proposed algorithm.

关键词： Multi-AUV inner-outer loop control Reinforcement Learning Critic-actor NNs

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A Path-Following controller for Marine Vehicles Using a Two-Scale inner-outer loop Approach

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SENSORS 2022年第11期22卷 4293-4293页

作者： Maurya, Pramod Morishita, Helio Mitio Pascoal, Antonio Aguiar, A. Pedro CSIR Natl Inst Oceanog Panaji 403004 Goa India Univ Sao Paulo Polytech Sch Dept Naval Architecture & Ocean Engn Sao Paulo Campus BR-05508030 Sao Paulo Brazil Univ Lisbon Inst Syst & Robot ISR IST P-1049001 Lisbon Portugal Univ Porto Fac Engn Res Ctr Syst & Technol P-4200465 Porto Portugal Univ Porto Fac Engn Dept Elect & Comp Engn P-4200465 Porto Portugal

This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. The inner-outer loop control structures exhibit a fast-slow temporal scale separation that yields simple "rules of thumb" for controller tuning. Stated intuitively, the inner-loop dynamics should be much faster than those of the outer loop. Conceptually, the procedure described has three key advantages: (i) it decouples the design of the inner and outer control loops, (ii) the structure of the outer-loop controller does not require exact knowledge of the vehicle dynamics, and (iii) it provides practitioners a very convenient method to effectively implement path-following controllers on a wide range of vehicles. The path-following controller discussed in this article is designed at the kinematic outer loop that commands the inner loop with the desired heading angles while the vehicle moves at an approximately constant speed. The key underlying idea is to provide a seamless implementation of path-following control algorithms on heterogeneous vehicles, which are often equipped with heading autopilots. To this end, we assume that the heading control system is characterized in terms of an IOS-like relationship without detailed knowledge of vehicle dynamics parameters. This paper quantitatively evaluates the combined inner-outer loop to obtain a relationship for assessing the combined system's stability. The methods used are based on nonlinear control theory, wherein the cascade and feedback systems of interest are characterized in terms of their IOS properties. We use the IOS small-gain theorem to obtain quantitative relationships for controller tuning that are applicable to a broad range of marine vehicles. Tests with AUVs and one ASV in real-life conditions have shown the efficacy of the path-following control structure developed.

关键词： path following inner-outer loop control input-to-output stability AUVs ASVs

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Optimal Tracking control Based on Integral Reinforcement Learning for An Underactuated Drone 10th

Optimal Tracking Control Based on Integral Reinforcement Lea...

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10th IFAC Symposium on Intelligent Autonomous Vehicles IAV

作者： Li, Shaobao Durdevic, Petar Yang, Zhenyu Aalborg Univ Dept Energy Technol Esbjerg CampusNiels Bohus Vej 8 DK-6700 Esbjerg Denmark

A drone is desirable to perform various flying missions with different loads while always guaranteeing optimal flying performance. In this paper, an integral reinforcement learning algorithm is developed for a drone such that it can learn optimal control policy online. The drone is described by an underactuated nonlinear model and the inner-outer loop control strategy is applied for the navigation control. In the outer loop an optimal controller is designed to minimize a cost function with input saturation, and a policy iteration based integral reinforcement learning (IRL) algorithm is proposed. Critic-actor neural networks (NNs) are further applied for online implementation of the IRL algorithm. In the inner loop a quaternion based feedback attitude controller is designed to guarantee system stability. A simulation study is finally provided to demonstrate the effectiveness of the proposed IRL algorithm. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Reinforcement learning optimal control neural network inner-outer loop control

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Optimal Tracking control Based on Integral Reinforcement Learning for An Underactuated Drone

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IFAC-PapersOnLine 2019年第8期52卷 55-60页

作者： Shaobao Li Petar Durdevic Zhenyu Yang Department of Energy Technology Aalborg University Esbjerg Campus Niels Bohus Vej 8 Esbjerg 6700 Denmark

关键词： Reinforcement learning optimal control neural network inner-outer loop control

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A Single loop Dynamic Inversion control for a Fighter Aircraft Executing Rapid Large Amplitude Maneuvers

A Single Loop Dynamic Inversion Control for a Fighter Aircra...

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IEEE India Council International Conference

作者： Bijoy K. Mukherjee Manoranjan Sinha Dept. of Aerospace Engg. IIT Kharagpur

ISBN: (纸本)9781538643198

Modern fighter aircraft undergo rapid and large angular excursions about the body axes in order to execute various complex maneuvers. Such severe flight conditions force the aircraft dynamics to nonlinear regime thereby making nonlinear control implementation almost unavoidable. Such nonlinear controls are usually formulated in inner and outer loops based on the two time scale separation principle. The present paper demonstrates that to perform certain maneuvers, nonlinear control can also be formulated on a single loop without resorting to such a slow-fast separation assumption for the dynamics. To validate the efficacy of the proposed method, nonlinear dynamic inversion controls are designed using this alternate formulation to automatically carry out two very well-known maneuvers cobra and aileron roll maneuver and the corresponding MATLAB simulation results are presented.

关键词： Cobra maneuver Aileron roll maneuver Nonlinear dynamic Inversion Single loop control inner-outer loop control

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Trajectory Tracking control for a Quadrotor Using Fuzzy PID control Scheme 4

Trajectory Tracking Control for a Quadrotor Using Fuzzy PID ...

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IEEE 4th International Conference on Knowledge-Based Engineering and Innovation (KBEI)

作者： Parivash, Farhad Ghasemi, Ali Shahrood Univ Technol Sch Mech & Mechatron Engn Shahrood Iran Islamic Azad Univ North Tehran Branch Dept Mech Engn Fac Engn Tehran Iran

ISBN: (纸本)9781538626405

Quadrotor is an unmanned aerial vehicle (UAV) with high maneuverability. However, motion control of quadrotor is a challenging problem due to its nonlinear under actuated dynamics. In this paper, trajectory tracking control of quadrotor is studied for a nonlinear under actuated model. An inner-outer loop control paradigm is applied to control lateral motion of quadrotor. The outer loop generates desired forces to control lateral translations of quadrotor. While, the inner loop controls roll and pitch maneuvers. Also, analytical inversion is obtained to generate desired roll and pitch angles from desired lateral forces. A fuzzy proportional-integral-derivative (PID) control scheme is applied as the main part of the control law for all six degrees of freedom (DOFs). Also a feedback linearization term is considered in the control laws to compensate model nonlinearities. Performance of the proposed controller is examined by numerical simulation and is compared with a conventional PID controller.

关键词： quadrotor trajectory tracking inner-outer loop control PID control fuzzy control

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Marine Vehicle Path Following Using inner-outer loop control

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IFAC Proceedings Volumes 2009年第18期42卷 38-43页

作者： P. Maurya A. Pedro Aguiar A. Pascoal National Institute of Oceanography Marine Instrumentation Division Dona Paula Goa-403004 India Instituto Superior Tecnico – Institute for Systems and Robotics (IST-ISR) Lisbon 1049-001 Portugal

This paper addresses the problem of marine vehicle path following using inner-outer loop control, with due account for the vehicle dynamics. We propose an inner-outer control structure that lends itself to a simple intuitive interpretation and exhibits three key advantages: i) it allows for decoupling in the design of the inner and outer control loops, ii) the design of the outer loop controller does not require in depth knowledge of the internal vehicle dynamics, and iii) it affords practitioners a very convenient method to effectively implement path following controllers on a wide range of vehicles. The mathematical tools used for systems characterization and stability analysis borrow from Input to Output Stability (IOS) theory and small gain theorems. In this paper, formal system analysis is done only for the case where the paths to be followed are straight lines. However, the technical machinery developed and the results obtained shed light into the process of designing path following controllers with an inner-outer loop structure for arbitrary paths. The efficacy of the path following control structure developed has been proven during tests with an AUV and an ASV at sea.

关键词： Path following inner-outer loop control Input to Output Stability AUVs ASVs

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Quad-Tilting Rotor Convertible MAV: Modeling and Real-Time Hover Flight control

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2012年第1-4期65卷 457-471页

作者： Flores, Gerardo Ramon Escareno, Juan Lozano, Rogelio Salazar, Sergio Univ Technol Compiegne Heudiasyc Lab CNRS 6599 F-60205 Compiegne France CINVESTAV French Mexican Lab Comp Sci & Control Mexico City 14000 DF Mexico

This paper describes the modeling, control and hardware implementation of an experimental tilt-rotor aircraft. This vehicle combines the high-speed cruise capabilities of a conventional airplane with the hovering capabilities of a helicopter by tilting their four rotors. Changing between cruise and hover flight modes in mid-air is referred to transition. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newtonian approach. Two nonlinear control strategies are presented and evaluated at simulation level to control, the vertical and horizontal flight dynamics of the vehicle in the longitudinal plane. An experimental prototype named Quad-plane was developed to perform the vertical flight. A low-cost DSP-based Embedded Flight control System (EFCS) was designed and built to achieve autonomous attitude-stabilized flight.

关键词： Quad-plane UAV Operational transition inner-outer loop control Backstepping Embedded control system Convertible MAVs

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