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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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IMU Preintegration for Visual-Inertial Odometry Pose Estimation 37

IMU Preintegration for Visual-Inertial Odometry Pose Estimat...

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37th Chinese control Conference (CCC)

作者： Liu, Fuchun Su, Xuan He, Yun Luo, Fei Gao, Huanli South China Univ Technol Minist Educ Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Guangzhou 510640 Guangdong Peoples R China

ISBN: (纸本)9789881563958

In this paper, based on Inertial Measurement Unit (IMU) preintegration, a pose estimation algorithm for Visual-Inertial Odometry (VIO) system has been investigated. Firstly, we developed the kinematic equation of acceleration and angular velocity of IMU. To avoid the re-integration caused by the change of the system states, the IMU measurements are preintegrated on the Riemannian manifold of rotation. Furthermore, we studied the propagation characteristic of noise and derived the state transition equation of the noise. So the influence of noise on pose estimation can be dramatically reduced. Compared with the famous Okvis algorithm, experimental results on two public datasets of EuRoC show that the proposed IMU preintegration algorithm achieves good estimation median of translation error with 0.14 m, which is better than Okvis with 0.24 m.

关键词： IMU Preintegration Manifold Kinematic Equation VIO Noise Propagation

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Improved Model Predictive control for Cooperative Adaptive Cruise control Subject to Actuator Delay

Improved Model Predictive Control for Cooperative Adaptive C...

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Chinese Automation Congress (CAC)

作者： Liu, Fuchun Chen, Yifeng South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control ASNC Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

ISBN: (数字)9781538635247

ISBN: (纸本)9781538635247

In this paper, an improved distributed model predictive control (MPG) algorithm subject to actuator delay of vehicles in cooperative adaptive cruise control (CACC) system is proposed. Firstly the traditional model predictive control approach is analyzed, which solves the incremental control input by transforming the MPG problem with constraints into a standard quadratic programming (QP) problem and introduces a slack variable to soften constraints. However, the traditional MPG controller cannot meet the requirement of tracking performance and safety when the actuator delay is taken into account. Therefore, an improved MPG algorithm using the method of dynamic matrix control (DMC) is proposed. Numerical simulations show that the tracking performance of the improved MPG algorithm can be maintained in different actuator delay while the performance of traditional one becomes poor or even unstable, which demonstrates the effectiveness of the proposed algorithm.

关键词： MPC CACC QP actuator delay DMC

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Nonlinear disturbance observer-based geometric attitude fault-tolerant control of quadrotors

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INTERNATIONAL JOURNAL OF systems SCIENCE 2024年第11期55卷 2337-2348页

作者： Wang, Liping Sun, Weiwei Pei, Hailong South China Univ Technol Guangdong Engn Technol Res Ctr Unmanned Aerial Veh Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Peoples R China Qufu Normal Univ Inst Automat Qufu Peoples R China

This paper is concerned with nonlinear disturbance observer (DO)-based geometric attitude fault-tolerant control (FTC) problem of quadrotor unmanned aerial vehicles (UAVs) subject to system uncertainties, exogenous disturbances, and actuator faults. A disturbance observer-based control (DOBC) framework is devised to tackle the difficulties caused by system uncertainties and external disturbances. The FTC is proposed to cope with the occurrence of actuator faults which can be modelled as a constant loss of effectiveness. The proposed design scheme can provide an effective way to analyse the stability of the closed-loop system, which can ensure the asymptotical convergence of the error. The other method considers actuator failures as part of the lumped disturbance, and the attitude tracking problem of quadrotors concerning the lumped disturbance is solved by the DO-based control method, which can ensure the exponential convergence of the error. The numerical simulations are performed to illustrate the effectiveness of the design techniques.

关键词： Quadrotor UAVs nonlinear disturbance observer geometric method fault-tolerant control

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Fixed-time Parameter Estimation and control Design for Unknown Robot Manipulators with Asymmetric Motion Constraints

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INTERNATIONAL JOURNAL OF control AUTOMATION AND systems 2022年第1期20卷 268-282页

作者： Zhu, Chengzhi Jiang, Yiming Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Hunan Univ Natl Engn Lab Robot Visual Percept & Control Changsha 410082 Peoples R China Univ West England Bristol Robot Lab Bristol BS16 IQY Avon England

Most of the existing identification/control algorithm of uncertain robot manipulators have been proposed to achieve model identification and trajectory tracking with expected precision, but the convergence time and transient tracking performance have been rarely discussed. In this paper, an adaptive fixed-time estimation algorithm is proposed for an uncertain robot. A recursive update law combined with an auxiliary filtering technique has been exploited such that the measurement of acceleration signals could be avoided during the estimation process. Based on the results of parameter identification, we propose a fixed-time control scheme which can guarantee the specified motion performance and prescribed convergence time simultaneously. The tiny practical error of parameter identification can be effectively handled with the proposed control scheme. Finally, the simulation results based on an uncertain 2-DOF robot have demonstrated the effectiveness of the proposed identification/control algorithm.

关键词： Asymmetric motion constraints fixed-time control parameter estimation robot manipulators

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Active disturbance rejection-based sliding mode control for a surface vessel 34

Active disturbance rejection-based sliding mode control for ...

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34th Chinese control Conference, CCC 2015

作者： Wei, Yuli Sun, Tairen Liu, Guohai School of Electrical Information and Engineering Jiangsu University Zhenjiang China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China

ISBN: (纸本)9789881563897

Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Active disturbance rejection control Extended state observer Sliding mode control Surface vessel Trajectory tracking

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Modified static anti-windup for saturated systems with sector-bounded and slope-restricted nonlinearities

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2016年第16期26卷 3441-3459页

作者： Wang, Naizhou Pei, Hailong Tang, Yong South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Guangdong Peoples R China South China Univ Technol Sch Mech & Automot Engn Key Lab Surface Funct Struct Mfg Guangdong Higher Educ Inst Guangzhou 510640 Guangdong Peoples R China

This paper proposes modified static anti-windup techniques for saturated systems with sector-bounded and slope-restricted nonlinearities by augmenting the pre-designed controller with the so-called differential compensator to process the slope restriction. By using a purely quadratic Lyapunov function and with a modified sector condition dealing with actuator saturation, LMI-based synthesis conditions are presented to address the problems of the estimates of the region of attraction and L2 performance analysis of the closed-loop system. Numerical examples illustrate the effectiveness of the proposed approaches. Copyright (c) 2016 John Wiley & Sons, Ltd.

关键词： anti-windup slope-restricted nonlinearity nonlinear system linear matrix inequality (LMI)

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Predefined time attitude control for quadrotor UAV with output constraints and input saturation

Predefined time attitude control for quadrotor UAV with outp...

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2024 China Automation Congress, CAC 2024

作者： Li, Shuo Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems College of Automation Science and Enginneering South China University of Technology Guangzhou510640 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems School of Automation Science and Enginneering South China University of Technology Guangzhou510640 China

ISBN: (纸本)9798350368604

In this paper, we examine the predefined time flight control of a quadrotor UAV with output constraints and input saturation. The attitude tracking error of UAV is constrained by the tan-type barrier Lyapunov function. The undesirable effects of the saturated input limitations are addressed by introducing an auxiliary system. Then a predefined time tracking control strategy is designed and the stability of the scheme is analyzed. Eventually, the simulation results show the method allows the angular tracking error to converge to the specified range in a predefined time. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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The Solution of Drone Attitudes on Lie Groups 5

The Solution of Drone Attitudes on Lie Groups

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5th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Yang, Shaoji Pei, Hailong South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou Peoples R China

ISBN: (纸本)9781728164793

In this paper, we generalize the Extended Kalman Filter algorithm on Lie Groups for the attitude propagation and update of the unmanned helicopters. The data noises obtained by sensors are assumed to be independent as Gaussian distributions, and the posterior distribution of the estimated state is also Gaussian distribution. The attitude of the drone can be obtained from the accelerometers, the gyroscopes, and the magnetometers. These three sensors need to be fused to obtain the optimal estimated value. Among them, the method of multiple sub-samples is used to compensate for the error generated by the long sampling period of the gyroscope, and we use a Chi-square detection method to determine whether the observation information is valid during the updating process.

关键词： Kalman filters

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Neural control of uncertain robot manipulator with fixed-time convergence

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NONLINEAR DYNAMICS 2022年第2期109卷 849-861页

作者： Zhu, Chengzhi Jiang, Yiming Yang, Chenguang South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Wushan Rd Guangzhou 510640 Guangdong Peoples R China Hunan Univ Natl Engn Res Ctr Robot Visual Percept & Control Phoenix Mt St Changsha 410082 Hunan Peoples R China

In this paper, an adaptive NN (neural network) control scheme is proposed for uncertain robot systems to achieve fixed-time convergence. With the proposed fixed-time NN controller, the system uncertainty can be handled during the operation and the system can achieve semiglobal stability within fixed-time regardless of the initial conditions. In addition, the boundedness of the NNs weight estimation can be proved theoretically in our work, rather than being assumed as in some recent fixed-time NN control design. Finally, the superior control performance of the proposed scheme is demonstrated based on simulation and experiment study using a Baxter robot.

关键词： Neural network control Semiglobal uniformly ultimately boundedness Fixed-time convergence Robot manipulator

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