Robust Attitude Control and Virtual Reality Model for Quadrotor

To Xuan Dinh; Doan Ngoc Chi Nam; Kyoung Kwan Ahn

doi:10.20965/ijat.2015.p0283

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IJAT Vol.9 No.3 pp. 283-290

doi: 10.20965/ijat.2015.p0283

(2015)

Paper:

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Robust Attitude Control and Virtual Reality Model for Quadrotor

To Xuan Dinh^, Doan Ngoc Chi Nam^, and Kyoung Kwan Ahn^**,†

^*Graduate School of Mechanical Engineering, University of Ulsan
Daehakro 93, Namgu, Ulsan 680-749, South Korea

^**School of Mechanical Engineering, University of Ulsan
Daehakro 93, Namgu, Ulsan 680-749, South Korea

^†Corresponding author

Received:

April 14, 2014

Accepted:

February 26, 2015

Published:

May 5, 2015

Keywords:

unmanned aerial vehicle (UAV), quadrotor helicopter, backstepping control, adaptive control

Abstract

This paper introduces an adaptive attitude control based on a backstepping control scheme for a quadrotor helicopter test bed. First, aerodynamics and motion equations are provided to model the dynamics of the quadrotor and a Virtual Reality (VR) model is developed incorporating the dynamic model to the virtual results of simulation. Then, an adaptive backstepping algorithm is applied to the attitude control and this algorithm is adaptive according to Lyapunov-based stability analysis. Finally, the simulation results with many types of reference signals are provided to demonstrate the good tracking performance of the proposed control algorithm.

Cite this article as:

T. Dinh, D. Nam, and K. Ahn, “Robust Attitude Control and Virtual Reality Model for Quadrotor,” Int. J. Automation Technol., Vol.9 No.3, pp. 283-290, 2015.

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References

[1] P. Pounds, R. Mahony, and P. Corke, “Modelling and control of a quad-rotor robot,” Australasian Conf. on Robotics & Automation, 2006.
[2] G. Hoffmann, S. Waslander, and C. Tomlin, “Quadrotor helicopter trajectory tracking control,” AIAA guidance, navigation & control Conf., pp. 2008-7410, 2008.
[3] S. Bouabdallah and R. Siegwart, “Field and service robotics. Springer tracts in advanced robotics – chapter: Towards intelligent miniature flying robots,” Springer, pp. 429-469, 2006.
[4] S. Grzonka, G. Grisetti, and W. Burgard, “A Fully Autonomous Indoor Quadrotor,” IEEE/ASME Trans. on Robotics, Vol.28, No.1, pp. 90-100, 2012.
[5] Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, “Image-Based Visual Servo Control of the Translation Kinematics ofa Quadrotor Aerial Vehicle,” IEEE/ASME Trans on Robotics, Vol.25, No.3, pp. 743-749, 2009.
[6] X. Ding and Y. Yu, “Motion Planning and Stabilization Control of a Multipropeller Multifunction Aerial Robot,” IEEE Trans. on Mech., Vol.18, No.2, pp. 645-656, 2013.
[7] S. Bouabdallah and R. Siegwart, “Backstepping and sliding-mode techniques applied to an indoor micro quadrotor,” IEEE Int. Conf. on robotics and automation, pp. 2259-2264, 2005.
[8] P. Castillo, P. Albertos, P. Garcia, and R. LozaNo, “Simple real-time attitude stabilization of a quad-rotor aircraft with bounded signals,” IEEE Conf. on decision & control, pp. 1533-1538, 2006.
[9] P. C. R. Lozano and A. Dzul, “Stabilization of a mini rotorcraft with four rotors,” IEEE Control Sy Mag2005, pp. 4555.
[10] Y. Morel and A. Leonessa, “Direct adaptive tracking control of quadrotor aerial vehicles,” Florida Conf. on Recent Advances in Robotics, pp. 1-6, 2006.
[11] G. Fay, “Derivation of the aerodynamic forces for the mesicopter simulation,” 2001.
[12] J. Seddon, “Basic helicopter aerodynamics,” Oxford: BSP Professional, 1990.
[13] A. A. Mian and W. Daobo, “Modeling and Backstepping-based Nolinear Control Strategy for a 6 DOF Quadrotor Helicopter,” 2007.
[14] D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, and R. Cunha, “Robust Take-Off for a Quadrotor Vehicle,” 2012.
[15] P. Bouffard, “On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation, and Experiments,” 2012.
[16] A. Tayebi and S. McGilvray, “Attitude Stabilization of a VTOL Quadrotor Aircraft,” IEEE Trans. on Control Systems Technology, Vol.14, No.3, 2006.
[17] A. Mokhtari, A. Benallegue, and A. Belaidi, “Polynomial Linear Quadratic Gassian and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle,” Journal of Robotics and Mechatronics, Vol.17, No.4, pp. 483-495, 2005.
[18] R. M. Philbrick and M. B. Colton, “Effects of Haptic and 3D Audio Feedback on Operator Performance and Workload for Quadrotor UAVs in Indoor Environments,” Journal of Robotics and Mechatronics, Vol.26, No.5, pp. 580-591, 2014.
[19] T. Bresciani, “Modelling, Identification and Control of a Quadrotor Helicopter,” 2008.
[20] B. Piriyanont, N. Uchiyama, and S. SaNo, “Model Reference control for Collision avoidance of a human-operated quadrotor helicopter,” Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.15, No.5, pp. 617-623, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] P. Pounds, R. Mahony, and P. Corke, “Modelling and control of a quad-rotor robot,” Australasian Conf. on Robotics & Automation, 2006.

[2] [2] G. Hoffmann, S. Waslander, and C. Tomlin, “Quadrotor helicopter trajectory tracking control,” AIAA guidance, navigation & control Conf., pp. 2008-7410, 2008.

[3] [3] S. Bouabdallah and R. Siegwart, “Field and service robotics. Springer tracts in advanced robotics – chapter: Towards intelligent miniature flying robots,” Springer, pp. 429-469, 2006.

[4] [4] S. Grzonka, G. Grisetti, and W. Burgard, “A Fully Autonomous Indoor Quadrotor,” IEEE/ASME Trans. on Robotics, Vol.28, No.1, pp. 90-100, 2012.

[5] [5] Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, “Image-Based Visual Servo Control of the Translation Kinematics ofa Quadrotor Aerial Vehicle,” IEEE/ASME Trans on Robotics, Vol.25, No.3, pp. 743-749, 2009.

[6] [6] X. Ding and Y. Yu, “Motion Planning and Stabilization Control of a Multipropeller Multifunction Aerial Robot,” IEEE Trans. on Mech., Vol.18, No.2, pp. 645-656, 2013.

[7] [7] S. Bouabdallah and R. Siegwart, “Backstepping and sliding-mode techniques applied to an indoor micro quadrotor,” IEEE Int. Conf. on robotics and automation, pp. 2259-2264, 2005.

[8] [8] P. Castillo, P. Albertos, P. Garcia, and R. LozaNo, “Simple real-time attitude stabilization of a quad-rotor aircraft with bounded signals,” IEEE Conf. on decision & control, pp. 1533-1538, 2006.

[9] [9] P. C. R. Lozano and A. Dzul, “Stabilization of a mini rotorcraft with four rotors,” IEEE Control Sy Mag2005, pp. 4555.

[10] [10] Y. Morel and A. Leonessa, “Direct adaptive tracking control of quadrotor aerial vehicles,” Florida Conf. on Recent Advances in Robotics, pp. 1-6, 2006.

[11] [11] G. Fay, “Derivation of the aerodynamic forces for the mesicopter simulation,” 2001.

[12] [12] J. Seddon, “Basic helicopter aerodynamics,” Oxford: BSP Professional, 1990.

[13] [13] A. A. Mian and W. Daobo, “Modeling and Backstepping-based Nolinear Control Strategy for a 6 DOF Quadrotor Helicopter,” 2007.

[14] [14] D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, and R. Cunha, “Robust Take-Off for a Quadrotor Vehicle,” 2012.

[15] [15] P. Bouffard, “On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation, and Experiments,” 2012.

[16] [16] A. Tayebi and S. McGilvray, “Attitude Stabilization of a VTOL Quadrotor Aircraft,” IEEE Trans. on Control Systems Technology, Vol.14, No.3, 2006.

[17] [17] A. Mokhtari, A. Benallegue, and A. Belaidi, “Polynomial Linear Quadratic Gassian and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle,” Journal of Robotics and Mechatronics, Vol.17, No.4, pp. 483-495, 2005.

[18] [18] R. M. Philbrick and M. B. Colton, “Effects of Haptic and 3D Audio Feedback on Operator Performance and Workload for Quadrotor UAVs in Indoor Environments,” Journal of Robotics and Mechatronics, Vol.26, No.5, pp. 580-591, 2014.

[19] [19] T. Bresciani, “Modelling, Identification and Control of a Quadrotor Helicopter,” 2008.

[20] [20] B. Piriyanont, N. Uchiyama, and S. SaNo, “Model Reference control for Collision avoidance of a human-operated quadrotor helicopter,” Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.15, No.5, pp. 617-623, 2011.

Robust Attitude Control and Virtual Reality Model for Quadrotor

To Xuan Dinh*, Doan Ngoc Chi Nam*, and Kyoung Kwan Ahn**,†

To Xuan Dinh^, Doan Ngoc Chi Nam^, and Kyoung Kwan Ahn^**,†