Output feedback control design for quadrotors in the presence of uncertainties

Joonho Lee; Jongeun Choi

doi:10.1115/DSCC2015-9947

Output feedback control design for quadrotors in the presence of uncertainties

Joonho Lee, Jongeun Choi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.

Original language	English
Title of host publication	Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
Subtitle of host publication	Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791857243
DOIs	https://doi.org/10.1115/DSCC2015-9947
Publication status	Published - 2015
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: 2015 Oct 28 → 2015 Oct 30

Publication series

Name	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume	1

Other

Other	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country	United States
City	Columbus
Period	15/10/28 → 15/10/30

Bibliographical note

Publisher Copyright:
Copyright © 2015 by ASME.

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Systems Engineering

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10.1115/DSCC2015-9947

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Lee, J., & Choi, J. (2015). Output feedback control design for quadrotors in the presence of uncertainties. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9947

Lee, Joonho ; Choi, Jongeun. / Output feedback control design for quadrotors in the presence of uncertainties. Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).

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abstract = "This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.",

author = "Joonho Lee and Jongeun Choi",

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year = "2015",

doi = "10.1115/DSCC2015-9947",

language = "English",

series = "ASME 2015 Dynamic Systems and Control Conference, DSCC 2015",

publisher = "American Society of Mechanical Engineers",

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Lee, J & Choi, J 2015, Output feedback control design for quadrotors in the presence of uncertainties. in Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 1, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 15/10/28. https://doi.org/10.1115/DSCC2015-9947

Output feedback control design for quadrotors in the presence of uncertainties. / Lee, Joonho; Choi, Jongeun.

Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper proposes an output feedback control design for quadrotor Unmanned Aerial Vehicles (UAVs) to deal with unmeasured system states, system uncertainties, and external disturbances. Extended High-Gain Observers (EHGOs) are used to estimate the uncertainties and unmeasured system states. Dynamic inversion utilizes the estimates fromEHGOs in the second and third fastest time scales in order to deal with input uncertainties and a form of non-affine control inputs. In plant dynamics, rotational dynamics in the fourth fastest time scale, is forced to be faster than translational dynamics in the slowest time scale to overcome the lack of the number of control inputs in this underactuated mechanical system. Using the singular perturbation method, stability of the closed-loop system is conducted. Throughout numerical simulations, the proposed control algorithm is verified.

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Lee J, Choi J. Output feedback control design for quadrotors in the presence of uncertainties. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). https://doi.org/10.1115/DSCC2015-9947

Output feedback control design for quadrotors in the presence of uncertainties

Abstract

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