Event driven model free control of quadrotor

In this paper we propose a new control approach, event driven model free control, which deals with the “tradeoff” between computational cost and system performance. The model free control scheme demands low computational resources and has high robustness, which is especially suitable for systems with complex dynamics and/or affected by disturbances. Particularly for the embedded systems, the event driven model free control demands even fewer computational resources, since the actuation is allowed only when an event is triggered. The proposed method is implemented on a quadrotor model in different realistic scenarios with disturbances and uncertainties. Under the time and event triggered schemes, the model free control is compared with the backstepping and sliding mode controls in these scenarios.

[1]  A. Benallegue,et al.  Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback , 2001, Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591).

[2]  Cédric Join,et al.  Complex continuous nonlinear systems: Their black box identification and their control , 2006 .

[3]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four-rotor mini rotorcraft , 2004, IEEE Transactions on Control Systems Technology.

[4]  Section De Microtechnique,et al.  design and control of quadrotors with application to autonomous flying , 2007 .

[5]  Michel Fliess,et al.  A mathematical explanation via “intelligent” PID controllers of the strange ubiquity of PIDs , 2010, 18th Mediterranean Conference on Control and Automation, MED'10.

[6]  Eduardo Sontag.  Input to State Stability: Basic Concepts and Results , 2008 .

[7]  Carlos Balaguer,et al.  A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion , 2011, Int. J. Humanoid Robotics.

[8]  Jing Wang,et al.  Event driven intelligent PID controllers with applications to motion control , 2011 .

[9]  K. Åström,et al.  Comparison of Riemann and Lebesgue sampling for first order stochastic systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[10]  K. Åström,et al.  Comparison of Riemann and Lebesgue sampling for first order stochastic systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[11]  Karl-Erik Årzén,et al.  A simple event-based PID controller , 1999 .

[12]  Ahmed Chemori,et al.  A dual model-free control of non-minimum phase systems for generation of stable limit cycles , 2011, IEEE Conference on Decision and Control and European Control Conference.

[13]  Nicolas Marchand,et al.  Further results on event-based PID controller , 2009, 2009 European Control Conference (ECC).