Robust Attitude Stabilization for Nonlinear Quadrotor Systems With Uncertainties and Delays

Robust attitude stabilization problem is dealt with for quadrotor systems subject to nonlinear and coupling dynamics, uncertainties including parametric uncertainties, unmodeled uncertainties, and external disturbances, and time-varying state and input delays. A robust attitude stabilization controller is proposed consisting of a nominal state-feedback controller and a robust compensator. The nominal controller is designed for the uncertain and delay free model to achieve the desired control performances, while the robust compensator is added to restrain the effects of uncertainties and delays on the closed-loop control system. The design method leads to a linear time-invariant feedback controller and the resulted closed-loop control system has a feature of two-loop type. The robust uniform asymptotical stability and bounded-input bounded-state stability are proven. Experimental results on the quadrotor system are given to validate the effectiveness of the designed robust control method.

[1]  Nicolas Marchand,et al.  Bounded attitude control of rigid bodies: Real-time experimentation to a quadrotor mini-helicopter , 2011 .

[2]  G. Raffo,et al.  An integral predictive / nonlinear H ∞ control structure for a quadrotor helicopter , 2009 .

[3]  A. Rasool,et al.  Using Meta-Heuristics In The Control Of A Non-Linear Input Delay Laboratory Helicopter System , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[4]  Reza Shahnazi,et al.  Fuzzy Adaptive Tracking Control of Constrained Nonlinear Switched Stochastic Pure-Feedback Systems , 2017, IEEE Transactions on Cybernetics.

[5]  Yisheng Zhong,et al.  Quaternion-Based Robust Attitude Control for Uncertain Robotic Quadrotors , 2015, IEEE Transactions on Industrial Informatics.

[6]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[7]  Pedro Castillo,et al.  Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter , 2004, Autom..

[8]  Grienggrai Rajchakit,et al.  Switching Design for the Asymptotic Stability and Stabilization of Nonlinear Uncertain Stochastic Discrete-time Systems , 2013 .

[9]  Zongyu Zuo,et al.  Augmented L1 adaptive tracking control of quad-rotor unmanned aircrafts , 2014, IEEE Transactions on Aerospace and Electronic Systems.

[10]  Leonid M. Fridman,et al.  Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches , 2016, IEEE Transactions on Industrial Electronics.

[11]  Rong Su,et al.  Self-repairing control of a helicopter with input time delay via adaptive global sliding mode control and quantum logic , 2015, Inf. Sci..

[12]  Taeyoung Lee,et al.  Robust Adaptive Attitude Tracking on ${\rm SO}(3)$ With an Application to a Quadrotor UAV , 2013, IEEE Transactions on Control Systems Technology.

[13]  Helene Piet-Lahanier,et al.  A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theory , 2011 .

[14]  Yao Zhang,et al.  Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology , 2015, IEEE Transactions on Industrial Electronics.

[15]  Tong Heng Lee,et al.  Design and implementation of an autonomous flight control law for a UAV helicopter , 2009, Autom..

[16]  Frank L. Lewis,et al.  Dynamic inversion with zero-dynamics stabilisation for quadrotor control , 2009 .

[17]  Yisheng Zhong,et al.  Robust attitude stabilization controller design for quadrotor systems with multiple uncertainties and delays , 2016, 2016 American Control Conference (ACC).

[18]  Lorenzo Marconi,et al.  Robust nonlinear motion control of a helicopter , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[19]  Eric N. Johnson,et al.  Adaptive Trajectory Control for Autonomous Helicopters , 2005 .

[20]  Yisheng Zhong,et al.  Robust Three-Loop Trajectory Tracking Control for Quadrotors With Multiple Uncertainties , 2016, IEEE Transactions on Industrial Electronics.

[21]  Yisheng Zhong.  Robust output tracking control of SISO plants with multiple operating points and with parametric and unstructured uncertainties , 2002 .

[22]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[23]  Leonid M. Fridman,et al.  Super twisting control algorithm for the attitude tracking of a four rotors UAV , 2012, J. Frankl. Inst..

[24]  Jianbin Qiu,et al.  Adaptive Fault-Tolerant Control for Nonlinear System With Unknown Control Directions Based on Fuzzy Approximation , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[25]  Jinoh Lee,et al.  An experimental study on time delay control of actuation system of tilt rotor unmanned aerial vehicle , 2012 .

[26]  Yuri B. Shtessel,et al.  Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer , 2012, J. Frankl. Inst..

[27]  Rogelio Lozano,et al.  Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements , 2013, J. Intell. Robotic Syst..

[28]  Anthony Tzes,et al.  Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances , 2011 .

[29]  Yisheng Zhong,et al.  Robust Control for Quadrotors With Multiple Time-Varying Uncertainties and Delays , 2017, IEEE Transactions on Industrial Electronics.

[30]  Guangjun Liu,et al.  Active Model-Based Predictive Control and Experimental Investigation on Unmanned Helicopters in Full Flight Envelope , 2013, IEEE Transactions on Control Systems Technology.

[31]  Yisheng Zhong,et al.  Robust trajectory tracking control of uncertain quadrotors without linear velocity measurements , 2014, CCC 2014.

[32]  Yao Yu,et al.  Robust attitude control of an indoor micro quadrotor with input delay , 2014, Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference.

[33]  R. Lozano,et al.  Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter , 2007 .