A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation Systems
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- 英文论文题名：A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation Systems
- 论文作者：Xiao Liang ; Yongchun Fang ; Ning Sun
- 英文论文作者：Xiao Liang ; Yongchun Fang ; Ning Sun ; Institute of Robotics and Automatic Information System ; Nankai University ; Tianjin Key Laboratory of Intelligent Robotics ; Nankai University
- 年：2017
- 作者机构：Institute of Robotics and Automatic Information System,Nankai University;Tianjin Key Laboratory of Intelligent Robotics,Nankai University;
- 英文论文关键词：Quadrotor UAV Transportation Systems ; Backstepping-Based Control ; Lyapunov Techniques ; La Salle's Invariance Theorem
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：358k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle(UAV) transportation systems.The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously.Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by Lyapunov techniques and La Salle's invariance theorem. Simulation results demonstrate the proposed control law's superior performance and good robustness against various uncertainties.
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle(UAV) transportation systems.The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously.Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by Lyapunov techniques and La Salle's invariance theorem. Simulation results demonstrate the proposed control law's superior performance and good robustness against various uncertainties.
In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle(UAV) transportation systems.The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously.Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by Lyapunov techniques and La Salle's invariance theorem. Simulation results demonstrate the proposed control law's superior performance and good robustness against various uncertainties.
引文
[1]K.Schauwecker and A.Zell,On-board dual-stereo-vision for the navigation of an autonomous mav,Journal of Intelligent&Robotic Systems,74(1–2):1–16,2014.
[2]Z.T.Dydek,A.M.Annaswamy and E.Lavretsky,Adaptive control of quadrotor uavs:a design trade study with flight evaluations,IEEE Transactions on Control Systems Technology,21(4):1400–1406,2013.
[3]J.P.How,B.Bethke,A.Frank,D.Dale,and J.Vian,Realtime indoor autonomous vehicle test environment,IEEE Control Systems Magzine,28(2):51–64,2008.
[4]L.R.G.Carrillo,A.Dzul,and R.Lozano,Hovering quadrotor control:a comparison of nonlinear controllers using visual feedback,IEEE Transactions on Aerospace and Electronic Systems,48(4):3159–3170,2012.
[5]Y.C.Choi and H.S.Ahn,Nonlinear control of quadrotor for point tracking:actual implementation and experimental tests,IEEE/ASME Transactions on Mechatronics,20(3):1179–1192,2015.
[6]T.Lee,Robust adaptive attitude tracking on so(3)with an application to a quadrotor uav,IEEE Transactions on Control Systems Technology,21(5):1924–1930,2013.
[7]D.Zhou and M.Schwager,Virtual rigid bodies for coordinated agile maneuvering of teams of micro aerial vehicles,in Proceedings of the 2015 IEEE International Conference on Robotics and Automation,2015:1737–1742.
[8]G.Gioioso,A.Franchi,G.Salvietti,S.Scheggi,and D.Prattichizzo,The flying hand:a formation of uavs for cooperative aerial tele-manipulation,in Proceedings of the 2014 IEEE International Conference on Robotics and Automation,2014:4335–4341.
[9]F.Rinaldi,S.Chiesa and F.Quagliotti,Linear quadratic control for quadrotors uavs dynamics and formation flight,Journal of Intelligent&Robotic Systems,70(1–4):203–220,2013.
[10]N.Sun,Y.Fang,H.Chen,and B.Lu,Amplitude-saturated nonlinear output feedback antiswing control for underactuated cranes with double-pendulum cargo dynamics,IEEE Transactions on Industrial Electronics,64(3),2135–2146,2017
[11]N.Sun,Y.Wu,Y.Fang,H.Chen,and B.Lu,Nonlinear continuous global stabilization control for underactuated RTAC systems:Design,analysis,and experimentation,IEEE/ASME Transactions on Mechatronics,in press,DOI:10.1109/TMECH.2016.2631550
[12]N.Sun,Y.Fang,and H.Chen,A new antiswing control method for underactuated cranes with unmodeled uncertainties:theoretical design and hardware experiments,IEEE Transactions on Industrial Electronics,62(1):453–465,2015.
[13]N.Sun,Y.Fang,and X.Zhang,Energy coupling output feedback control of 4-dof underactuated cranes with saturated inputs,Automatica,vol.49,no.5,pp.1318–1325,2013.
[14]N.Sun,Y.Fang,Y.Zhang and B.Ma,A novel kinematic coupling-based trajectory planning method for overhead cranes,IEEE/ASME Transactions on Mechatronics,17(1):166–173,2012.
[15]N.Sun and Y.Fang,New energy analytical results for the regulation of underactuated overhead cranes:an end-effector motion-based approach,IEEE Transactions on Industrial Electronics,59(12):4723–4734,2012.
[16]J.Potter,W.Singhose and M.Costello,Reducing swing of model helicopter sling load using input shaping,in Proceedings of the 9th IEEE International Conference on Control and Automation,2011:348–353.
[17]I.Palunko,R.Fierro and P.Cruz,Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload:a dynamic programming approach,in Proceedings of the 2012IEEE International Conference on Robotics and Automation,2012:2691–2697.
[18]X.Liang,Y.Fang and N.Sun,Trajectory planning and tracking controller design for a planar quadrotor unmanned aerial vehicle transportation system,Control Theory&Applications,32(11):1430–1438,2015.
[19]I.Palunko,A.Faust,P.Cruz,L.Tapia,and R.Fierro,A reinforcement learning approach towards autonomous suspended load manipulation using aerial robots,in Proceedings of the2013 IEEE International Conference on Robotics and Automation,2013:4896–4901.
[20]M.M.Nicotra,E.Garone,R.Naldi,and L.Marcon,Nested saturation control of an uav carrying a suspended load,in Proceedings of the 2014 American Control Conference,2014:3585–3590.
[21]K.Sreenath,N.Michael and V.Kumar,Trajectory generation and control of a quadrotor with a cable-suspended loada differentially-flat hybrid system,in Proceedings of the 2013IEEE International Conference on Robotics and Automation,2013:4888–4895.
[22]K.Sreenath,T.Lee and V.Kumar,Geometric control and differential flatness of a quadrotor uav with a cable-suspended load,in Proceedings of the 52nd IEEE Conference on Decision and Control,2013:2269–2274.
[23]X.Liang,Y.Fang and N.Sun,A hierarchical controller for quadrotor unmanned aerial vehicle transportation systems,in Proceedings of the 2016 35th Chinese Control Conference,2016:6148-6153.
[24]H.K.Khalil,Nonlinear systems,3rd ed.Englewood Cliffs,NJ:Prentice-Hall,2002.
[2]Z.T.Dydek,A.M.Annaswamy and E.Lavretsky,Adaptive control of quadrotor uavs:a design trade study with flight evaluations,IEEE Transactions on Control Systems Technology,21(4):1400–1406,2013.
[3]J.P.How,B.Bethke,A.Frank,D.Dale,and J.Vian,Realtime indoor autonomous vehicle test environment,IEEE Control Systems Magzine,28(2):51–64,2008.
[4]L.R.G.Carrillo,A.Dzul,and R.Lozano,Hovering quadrotor control:a comparison of nonlinear controllers using visual feedback,IEEE Transactions on Aerospace and Electronic Systems,48(4):3159–3170,2012.
[5]Y.C.Choi and H.S.Ahn,Nonlinear control of quadrotor for point tracking:actual implementation and experimental tests,IEEE/ASME Transactions on Mechatronics,20(3):1179–1192,2015.
[6]T.Lee,Robust adaptive attitude tracking on so(3)with an application to a quadrotor uav,IEEE Transactions on Control Systems Technology,21(5):1924–1930,2013.
[7]D.Zhou and M.Schwager,Virtual rigid bodies for coordinated agile maneuvering of teams of micro aerial vehicles,in Proceedings of the 2015 IEEE International Conference on Robotics and Automation,2015:1737–1742.
[8]G.Gioioso,A.Franchi,G.Salvietti,S.Scheggi,and D.Prattichizzo,The flying hand:a formation of uavs for cooperative aerial tele-manipulation,in Proceedings of the 2014 IEEE International Conference on Robotics and Automation,2014:4335–4341.
[9]F.Rinaldi,S.Chiesa and F.Quagliotti,Linear quadratic control for quadrotors uavs dynamics and formation flight,Journal of Intelligent&Robotic Systems,70(1–4):203–220,2013.
[10]N.Sun,Y.Fang,H.Chen,and B.Lu,Amplitude-saturated nonlinear output feedback antiswing control for underactuated cranes with double-pendulum cargo dynamics,IEEE Transactions on Industrial Electronics,64(3),2135–2146,2017
[11]N.Sun,Y.Wu,Y.Fang,H.Chen,and B.Lu,Nonlinear continuous global stabilization control for underactuated RTAC systems:Design,analysis,and experimentation,IEEE/ASME Transactions on Mechatronics,in press,DOI:10.1109/TMECH.2016.2631550
[12]N.Sun,Y.Fang,and H.Chen,A new antiswing control method for underactuated cranes with unmodeled uncertainties:theoretical design and hardware experiments,IEEE Transactions on Industrial Electronics,62(1):453–465,2015.
[13]N.Sun,Y.Fang,and X.Zhang,Energy coupling output feedback control of 4-dof underactuated cranes with saturated inputs,Automatica,vol.49,no.5,pp.1318–1325,2013.
[14]N.Sun,Y.Fang,Y.Zhang and B.Ma,A novel kinematic coupling-based trajectory planning method for overhead cranes,IEEE/ASME Transactions on Mechatronics,17(1):166–173,2012.
[15]N.Sun and Y.Fang,New energy analytical results for the regulation of underactuated overhead cranes:an end-effector motion-based approach,IEEE Transactions on Industrial Electronics,59(12):4723–4734,2012.
[16]J.Potter,W.Singhose and M.Costello,Reducing swing of model helicopter sling load using input shaping,in Proceedings of the 9th IEEE International Conference on Control and Automation,2011:348–353.
[17]I.Palunko,R.Fierro and P.Cruz,Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload:a dynamic programming approach,in Proceedings of the 2012IEEE International Conference on Robotics and Automation,2012:2691–2697.
[18]X.Liang,Y.Fang and N.Sun,Trajectory planning and tracking controller design for a planar quadrotor unmanned aerial vehicle transportation system,Control Theory&Applications,32(11):1430–1438,2015.
[19]I.Palunko,A.Faust,P.Cruz,L.Tapia,and R.Fierro,A reinforcement learning approach towards autonomous suspended load manipulation using aerial robots,in Proceedings of the2013 IEEE International Conference on Robotics and Automation,2013:4896–4901.
[20]M.M.Nicotra,E.Garone,R.Naldi,and L.Marcon,Nested saturation control of an uav carrying a suspended load,in Proceedings of the 2014 American Control Conference,2014:3585–3590.
[21]K.Sreenath,N.Michael and V.Kumar,Trajectory generation and control of a quadrotor with a cable-suspended loada differentially-flat hybrid system,in Proceedings of the 2013IEEE International Conference on Robotics and Automation,2013:4888–4895.
[22]K.Sreenath,T.Lee and V.Kumar,Geometric control and differential flatness of a quadrotor uav with a cable-suspended load,in Proceedings of the 52nd IEEE Conference on Decision and Control,2013:2269–2274.
[23]X.Liang,Y.Fang and N.Sun,A hierarchical controller for quadrotor unmanned aerial vehicle transportation systems,in Proceedings of the 2016 35th Chinese Control Conference,2016:6148-6153.
[24]H.K.Khalil,Nonlinear systems,3rd ed.Englewood Cliffs,NJ:Prentice-Hall,2002.