Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle: Roadmap to Improve Tracking-Trajectory Performance in the Presence ... in Systems, Decision and Control, 384)

Description

This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i)the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii)the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering. Preface Acknowledgements Contents Acronyms Ensembles 1 Introduction 1.1 Introduction 1.2 Significance and Purpose 1.3 Guidance, Navigation, and Control 1.3.1 Guidance System 1.3.2 Navigation System 1.3.3 Flight Control System 1.4 Advanced Flight Control Methods 1.5 Flight Control Methods Based on FO Control 1.6 Structure of the Book References 2 QUAV Modeling 2.1 Introduction 2.2 Review of Multirotors Modeling 2.3 Preliminaries and Frame Representation 2.4 Mathematical Modeling 2.4.1 Flight Modeling of the Quadrotor with Newton-Euler's Formalism 2.4.2 Aerodynamic Forces and Moments Applied to the Quadrotor 2.4.3 Full Multi-rotor Dynamic Model 2.4.4 Rotor Dynamics 2.5 Model of the Vehicle Flying in a Gust of Wind 2.5.1 Modeling of Wind Gusts 2.5.2 Additional Applied Forces and Moments 2.5.3 Dynamic Model of Multi-rotor Under the Effect of the Wind 2.6 Technical Simplifications for Implementation Purposes 2.6.1 Simplified Simulation Model 2.6.2 Control Oriented Model 2.6.3 Control Architecture 2.6.4 Problem Formulation 2.7 Formulation of the Integral and Derivative Operators of Non-integer Order 2.7.1 Useful Functions in Fractional Calculation 2.7.2 Integration of Non-integer Order 2.7.3 Differentiation of Non-integer Order 2.7.4 Approximation of Non-integer Order Systems 2.8 Conclusion References 3 Stabilization of QUAV Under External Disturbances Using Modified Novel ST Based on Finite-Time SMC 3.1 Premolars of the Sliding Mode Control 3.1.1 Sliding Mode Control 3.1.2 Basic Concepts 3.1.3 Synthesis of the Sliding Surface 3.1.4 Design of the Control Law 3.2 Quadrotor Control by First Order Integral Sliding Mode 3.3 Quadrotor Control by Higher Order PID Sliding Modes 3.3.1 Principle of the Second Order Sliding Mode Control 3.3.2 Super-Twisting Control 3.3.3 Application of the Higher Order SM-PID Control to Quadrotor System 3.4 Simulation Results with Controller Gains Optimization 3.4.1 Scenario 1: Robustness Analysis (constant Disturbances) 3.4.2 Scenario 2: Robustness Analysis (Time-Varying Disturbances) 3.5 Discussion 3.6 Novel Terminal Sliding Mode Control for the Position and Attitude of a Quadrotor 3.7 Modified Super-Twisting NSMC for the Quadrotor System 3.8 Simulation Results and Discussion 3.9 Conclusion References 4 Control of the QUAV by a Hybrid Finite-Time Tracking Technique 4.1 Introduction 4.2 Hybrid Finite-Time Trajectory Tracking Technique for Quadrotor 4.2.1 Control of the Altitude Subsystem by Adaptive Backstepping 4.2.2 Control by Backstepping Technique for the Horizontal Position Subsystem 4.2.3 Attitude Control Using the Full Terminal Sliding Mode Technique 4.3 Analysis of the Simulation Results by the Hybrid Control 4.4 Adaptive Global Nonlinear SMC for a Quadrotor ch4new 4.4.1 Stability Analysis of the Proposed Controller 4.5 Results and Discussion 4.6 Conclusion References 5 Robust Nonlinear Backstepping SMC for QUAV Subjected to External Disturbances 5.1 Introduction 5.2 Finite-Time Adaptive Flight Control of a Quadrotor 5.2.1 Quadrotor Position Control by a New Adaptive Backstepping Method 5.2.2 Attitude Control of a Quadrotor Using the Adaptive Fast Terminal Sliding Mode Technique with the Backstepping Approach 5.3 Results and Discussion 5.3.1 Scenario 1: Without Disturbances 5.3.2 Scenario 2: In the Presence of Parametric Uncertainty and Disturbances 5.4 Conclusion References 6 Robust Nonsingular Fast Terminal SMC for Unceratin QUAV Subjected to External Disturbances 6.1 Introduction 6.2 Design Methodology of a New Controller for the Quadrotor System 6.2.1 Design of a Trajectory Tracking Controller for the Quadrotor Position Based on the NFTSMC Method 6.2.2 Design of the Trajectory Tracking Controller for the Quadrotor Position Based on the RANFTSMC Method 6.2.3 Design of a Trajectory Tracking Controller for Quadrotor Attitude Based on the RANFTSMC Method 6.3 Simulation Results 6.3.1 Scenario 1: Nominal 6.3.2 Scenario 2: Constant Disturbance 6.3.3 Scenario 3: Time Variation of the Wind Disturbance 6.3.4 Scenario 4: Noise from Sensors 6.3.5 Scenario 5: Parametric Uncertainties 6.4 Conclusion References 7 Robust Adaptive Global Time-Varying SMC for QUAV Subjected to Gaussian Random Uncertainties/Disturbances 7.1 Introduction 7.2 Controller Design Methodology 7.2.1 Design Controller Based on a Global Time-Varying SMC for the QUAV 7.2.2 Design Controller Based on an Adaptive Time-Varying SMC for the QUAV System 7.3 Simulation Results and Analysis 7.4 Conclusions References 8 High Order Fractional Controller Based on PID-SMC for the QUAV Under Uncertainties and Disturbance 8.1 Introduction 8.2 Fractional-Order Controllers Design and Stability Analysis for the QUAV System 8.2.1 Position Controller Design Based on FO-ST-PID-SMC 8.2.2 Attitude Control Method Design Based on FO-ST-PID-SMC 8.3 Simulation Results and Discussions 8.3.1 Simulation 1 8.3.2 Simulation 2 8.3.3 Simulation 3 8.3.4 Comparisons Analysis 8.4 Conclusion References 9 Global Fractional Controller Based on SMC for the QUAV Under Uncertainties and Disturbances 9.1 Introduction 9.2 Design of Fractional Sliding Manifold for Quadrotor System Without Disturbances and Modeling Uncertainties 9.3 Design of Fractional Sliding Manifold for the QUAV System in the Presence of Modeling Uncertainties and Disturbances 9.4 Results and Discussion 9.4.1 Simulation 1 9.4.2 Simulation 2 9.4.3 Simulation 3 9.5 Conclusions References 10 Robust FO Adaptive Nonsingular FTSMC for Uncertain QUAV Under Random Gaussian Disturbances 10.1 Introduction 10.2 Controller Design 10.2.1 Translational Subsystem 10.2.2 Stability Analysis for the Translational Loop 10.2.3 Rotational Subsystem 10.3 Simulation Results 10.3.1 With Drag Coefficients Uncertainties and Stochastic Disturbances 10.3.2 With Drag Coefficients Uncertainties and Random Disturbances 10.3.3 With Random Uncertainties (Random Uncertainty 30 % Added in Mass and Rotary Inertia) and External Disturbances 10.4 Conclusions References 11 Summary and Scope 11.1 Summary of Full Text 11.2 Future Research Prospect Appendix A Simulation Parameters A.1 Additions to the Simulation Parameters of the Model A.2 Complements to the Control Law Simulation Parameters Appendix B Simulations of Non-integer Systems and Stability in the Lyapunov Sense B.1 Simulations of Non-integer Order Systems B.2 Stability in the Lyapunov Sense References