Finite-time output feedback stabilization and control for a quadrotor mini-aircraft

Chuanlin Zhang; Shihua Li; Shihong Ding

Kybernetika (2012)

  • Volume: 48, Issue: 2, page 206-222
  • ISSN: 0023-5954

Abstract

top
This paper focuses on the finite-time output feedback control problem for a quad-rotor mini-aircraft system. First, a finite-time state feedback controller is designed by utilizing the finite-time control theory. Then, considering the case that the velocity states are not measurable, a finite-time stable observer is developed to estimate the unmeasurable states. Thus a finite-time output feedback controller is obtained and the stability analysis is provided to ensure the finite-time stability of the closed loop system. The proposed control method improves the convergence and disturbance rejection properties with respect to the asymptotically control results. Simulation results show the effectiveness of the proposed method.

How to cite

top

Zhang, Chuanlin, Li, Shihua, and Ding, Shihong. "Finite-time output feedback stabilization and control for a quadrotor mini-aircraft." Kybernetika 48.2 (2012): 206-222. <http://eudml.org/doc/246856>.

@article{Zhang2012,
abstract = {This paper focuses on the finite-time output feedback control problem for a quad-rotor mini-aircraft system. First, a finite-time state feedback controller is designed by utilizing the finite-time control theory. Then, considering the case that the velocity states are not measurable, a finite-time stable observer is developed to estimate the unmeasurable states. Thus a finite-time output feedback controller is obtained and the stability analysis is provided to ensure the finite-time stability of the closed loop system. The proposed control method improves the convergence and disturbance rejection properties with respect to the asymptotically control results. Simulation results show the effectiveness of the proposed method.},
author = {Zhang, Chuanlin, Li, Shihua, Ding, Shihong},
journal = {Kybernetika},
keywords = {quadrotor mini-aircraft; finite-time stability; finite-time observer; output feedback; output feedback; quadrotor mini-aircraft; finite-time stability; finite-time observer},
language = {eng},
number = {2},
pages = {206-222},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Finite-time output feedback stabilization and control for a quadrotor mini-aircraft},
url = {http://eudml.org/doc/246856},
volume = {48},
year = {2012},
}

TY - JOUR
AU - Zhang, Chuanlin
AU - Li, Shihua
AU - Ding, Shihong
TI - Finite-time output feedback stabilization and control for a quadrotor mini-aircraft
JO - Kybernetika
PY - 2012
PB - Institute of Information Theory and Automation AS CR
VL - 48
IS - 2
SP - 206
EP - 222
AB - This paper focuses on the finite-time output feedback control problem for a quad-rotor mini-aircraft system. First, a finite-time state feedback controller is designed by utilizing the finite-time control theory. Then, considering the case that the velocity states are not measurable, a finite-time stable observer is developed to estimate the unmeasurable states. Thus a finite-time output feedback controller is obtained and the stability analysis is provided to ensure the finite-time stability of the closed loop system. The proposed control method improves the convergence and disturbance rejection properties with respect to the asymptotically control results. Simulation results show the effectiveness of the proposed method.
LA - eng
KW - quadrotor mini-aircraft; finite-time stability; finite-time observer; output feedback; output feedback; quadrotor mini-aircraft; finite-time stability; finite-time observer
UR - http://eudml.org/doc/246856
ER -

References

top
  1. K. Alexis, G. Nikolakopoulos, A. Tzes, Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances., In: Proc. 15th IEEE Mediterranean Electrotechnical Conference 2010, pp. 1411-1416. 
  2. K. Alexis, G. Nikolakopoulos, A. Tzes, Constrained optimal attitude control of a quadrotor helicopter subject to wind-gusts: Experimental studies., In: Proc. Amer. Control Conference 2010, pp. 4451-4455. 
  3. A. Benallegue, A. Mokhtari, L. Fridman, 10.1002/rnc.1225, Internat. J. Robust and Nonlinear Control 18 (2008), 427-440. MR2392132DOI10.1002/rnc.1225
  4. S. P. Bhat, D. S. Bernstein, Finite-time stability of homogeneous systems., In: Proc. Amer. Control Conference 1997, pp. 2513-2514. 
  5. S. P. Bhat, D. S. Bernstein, 10.1109/9.668834, IEEE Trans. Automat. Control 43 (1998), 678-682. Zbl0925.93821MR1618028DOI10.1109/9.668834
  6. S. Bouabdallah, E. Murrieri, R. Siegwart, Design and control of an indoor micro quadrotor., In: Proc. IEEE International Conference on Robotics and Automation 2004, pp. 4393-4398. 
  7. S. Bouabdallah, R. Siegwart, Backstepping and sliding-mode techniques applied to an indoor micro quadrotors., In: Proc. IEEE International Conference on Robotics and Automation 2005, pp. 2247-2252. 
  8. P. Castillo, A. Dzul, R. Lozano, 10.1109/TCST.2004.825052, IEEE Trans. Control Systems Technol. 12 (2004), 510-516. DOI10.1109/TCST.2004.825052
  9. L. Derafa, L. Fridman, A. Benallegue, A. Ouldali, Super twisting control algorithm for the four rotors helicopter attitude tracking problem., In: Proc. 11th International Workshop on Variable Structure Systems 2010, pp. 62-67. 
  10. S. H. Ding, C. J. Qian, S. H. Li, 10.1109/TAC.2009.2037455, IEEE Trans. Automat. Control 55 (2010), 691-696. MR2654834DOI10.1109/TAC.2009.2037455
  11. S. H. Ding, C. J. Qian, S. H. Li, 10.1002/rnc.1591, Internat. J. Robust and Nonlinear Control 21 (2010), 271-294. Zbl1213.93182MR2791220DOI10.1002/rnc.1591
  12. Y. Feng, X. H. Yu, Z. H. Man, 10.1016/S0005-1098(02)00147-4, Automatica 38 (2002), 2159-2167. Zbl1015.93006MR2134882DOI10.1016/S0005-1098(02)00147-4
  13. M. T. Frye, S. H. Ding, C. J. Qian, S. H. Li, Global Finite-time stabilization of a PVTOL aircraft by output feedback., In: Proc. 48th IEEE Conference on Decision and Control 2009, pp. 2831-2836. 
  14. Y. G. Hong, 10.1016/S0167-6911(02)00119-6, Systems Control Lett. 46 (2002), 231-236. MR2010240DOI10.1016/S0167-6911(02)00119-6
  15. Y. G. Hong, J. Huang, Y. S. Xu, 10.1109/9.905699, IEEE Trans. Automat. Control 46 (2001), 305-309. Zbl0992.93075MR1814578DOI10.1109/9.905699
  16. Y. G. Hong, Y. S. Xu, J. Huang, 10.1016/S0167-6911(02)00130-5, Systems Control Lett. 46 (2002), 243-253. Zbl0994.93041MR2010242DOI10.1016/S0167-6911(02)00130-5
  17. A. Isidori, Nonlinear Control systems: An Introduction, Lecture Notes in Control and Information Sciences., Springer, Berlin 1985. MR0895138
  18. L. C. Lai, C. C. Yang, C. J. Wu, 10.1007/s10846-005-9015-3, J. Intell. and Robotic Systems 45 (2006), 115-135. DOI10.1007/s10846-005-9015-3
  19. A. Levant, 10.1080/00207179308923053, Internat. J. of Control 58 (1993), 1247-1263. Zbl0789.93063MR1250057DOI10.1080/00207179308923053
  20. S. H. Li, S. H. Ding, Q. Li, 10.1080/00207170802342818, Internat. J. Control 82 (2009), 822-836. MR2523551DOI10.1080/00207170802342818
  21. T. Madani, A. Benallegue, Control of a quadrotor mini-helicopter via full state backstepping technique., In: Proc. 45th IEEE Conference on Decision and Control 2006. 
  22. T. Madani, A. Benallegue, Backstepping control with exact 2-sliding mode estimation for a quadrotor unmanned aerial vehicle., In: Proc. International Conference on Intelligent Robots and Systems (2007), 141-146. 
  23. T. Madani, A. Benallegue, Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles., In: Proc. Amer. Control Confer. 2007, pp. 5887-5892. 
  24. T. Ménard, E. Moulay, W. Perruquetti, 10.1109/TAC.2010.2045698, IEEE Trans. Automat. Control 55 (2010), 1500-1506. MR2668964DOI10.1109/TAC.2010.2045698
  25. V. Mistler, A. Benallegue, N. K. M. Sirdi, Exact Linearization and Noninteracting Control of a 4 Rotors Helicopter via Dynamic Feedback., In: Proc. 2001 IEEE International Workshop on Robot and Human Interactive Communication 2001. 
  26. W. Perruquetti, T. Floquet, E. Moulay, 10.1109/TAC.2007.914264, IEEE Trans. Automat. Control 53 (2008), 356-360. MR2391590DOI10.1109/TAC.2007.914264
  27. A. Polyakov, A. Poznyak, 10.1109/TAC.2009.2023781, IEEE Tran. Automat. Control 54 (2009), 1951-1955. MR2552835DOI10.1109/TAC.2009.2023781
  28. C. J. Qian, W. Lin, 10.1109/9.935058, IEEE Trans. Automat. Control 46 (2001), 1061-1079. Zbl1012.93053MR1842139DOI10.1109/9.935058
  29. Y. J. Shen, X. H. Xia, 10.1016/j.automatica.2008.05.015, Automatica 44 (2008), 3152-3156. Zbl1153.93332MR2531419DOI10.1016/j.automatica.2008.05.015
  30. A. R. Teel, 10.1109/9.536496, IEEE Trans. Automat. Control 41 (1996), 1256-1270. Zbl0863.93073MR1409471DOI10.1109/9.536496

NotesEmbed ?

top

You must be logged in to post comments.

To embed these notes on your page include the following JavaScript code on your page where you want the notes to appear.

Only the controls for the widget will be shown in your chosen language. Notes will be shown in their authored language.

Tells the widget how many notes to show per page. You can cycle through additional notes using the next and previous controls.

    
                

                
Note: Best practice suggests putting the JavaScript code just before the closing </body> tag.