Robust Predictive Control of Nonplanar Fully-actuated UAVs

doi:10.16182/j.issn1004731x.joss.23-0143

Abstract

Abstract:

Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles (UAVs) are susceptible to external winds and unmodeled dynamics, the predictive control system with good robustness is designed. A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach. A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances. A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to improve the system robustness. Simulation results show that, compared to the conventional nonlinear dynamic inverse control method, the proposed algorithm-based closed-loop system has the stronger anti-interference capability and higher trajectory tracking accuracy.

Key words: nonplanar fully-actuated unmanned aerial vehicles, matched disturbances, mismatched disturbances, predictive control, trajectory tracking

CLC Number:

TP391.9

Ma Yun, Wang Yuan, Li Meng, Wang Peng, Tang Yanling. Robust Predictive Control of Nonplanar Fully-actuated UAVs[J]. Journal of System Simulation, 2024, 36(2): 415-422.

Figures/Tables 7

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

References 14

1	修素朴, 文元桥, 肖长诗, 等. 倾转四旋翼自主降落的设计与仿真[J]. 系统仿真学报, 2020, 32(9): 1676-1685.
	Xiu Supu, Wen Yuanqiao, Xiao Changshi, et al. Design and Simulation on Autonomous Landing of a Quad Tilt Rotor[J]. Journal of System Simulation, 2020, 32(9): 1676-1685.
2	赵静, 王鹏, 丁筱茜, 等. 基于观测器的四旋翼容错控制及仿真研究[J]. 系统仿真学报, 2022, 34(1): 1-10.
	Zhao Jing, Wang Peng, Ding Xiaoqian, et al. Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer[J]. Journal of System Simulation, 2022, 34(1): 1-10.
3	潘健, 刘昌龙. 基于ESO的LQR控制器在无人机姿态控制中的研究[J]. 系统仿真学报, 2018, 30(2): 753-759.
	Pan Jian, Liu Changlong. UAV Attitude Control with LQR Controller Based on Extended State Observer[J]. Journal of System Simulation, 2018, 30(2): 753-759.
4	丁少宾, 肖长诗, 刘金根, 等. X型四旋翼无人机建模及四元数控制[J]. 系统仿真学报, 2015, 27(12): 3057-3062.
	Ding Shaobin, Xiao Changshi, Liu Jingen, et al. Modeling and Quaternion Control of X-type Quadrotor[J]. Journal of System Simulation, 2015, 27(12): 3057-3062.
5	Crowther B, Lanzon A, Maya-Gonzalez M, et al. Kinematic Analysis and Control Design for a Nonplanar Multirotor Vehicle[J]. Journal of Guidance, Control, and Dynamics, 2011, 34(4): 1157-1171.
6	Jiang Guangying, Voyles R. A Nonparallel Hexrotor UAV with Faster Response to Disturbances for Precision Position Keeping[C]//2014 IEEE International Symposium on Safety, Security, and Rescue Robotics. Piscataway, NJ, USA: IEEE, 2014: 1-5.
7	Lee J Y S, Leang K K, Yim W. Design and Control of a Fully-actuated Hexrotor for Aerial Manipulation Applications[J]. Journal of Mechanisms and Robotics, 2018, 10(4): 041007.
8	Kaufman E, Caldwell K, Lee D, et al. Design and Development of a Free-floating Hexrotor UAV for 6-DOF Maneuvers[C]//2014 IEEE Aerospace Conference. Piscataway, NJ, USA: IEEE, 2014: 1-10.
9	Tadokoro Yuichi, Ibuki Tatsuya, Sampei Mitsuji. Joint Optimization of Geometric Control and Structure of a Fully-actuated Hexrotor Based on an Analytic HJBE Solution[C]//2018 IEEE Conference on Decision and Control (CDC). Piscataway, NJ, USA: IEEE, 2018: 1186-1191.
10	Tadokoro Yuichi, Ibuki Tatsuya, Sampei Mitsuji. Nonlinear Model Predictive Control of a Fully-actuated UAV on SE(3) Using Acceleration Characteristics of the Structure[C]//2019 12th Asian Control Conference (ASCC). Piscataway, NJ, USA: IEEE, 2019: 283-288.
11	宫勋, 白越, 赵常均, 等. Hex-rotor无人飞行器及其飞行控制系统设计[J]. 光学精密工程, 2012, 20(11): 2450-2458.
	Gong Xun, Bai Yue, Zhao Changjun, et al. Hex-rotor Aircraft and its Autonomous Flight Control System[J]. Optics and Precision Engineering, 2012, 20(11): 2450-2458.
12	王日俊, 赵常均, 白越, 等. 基于多故障分类的Hex-rotor无人飞行器的执行单元故障检测与自重构[J]. 浙江大学学报(工学版), 2018, 52(7): 1406-1414.
	Wang Rijun, Zhao Changjun, Bai Yue, et al. Faults Detection and Self-reconfiguration for Execution Units of Hex-rotor Unmanned Aerial Vehicle Based on Multiple Fault Classification[J]. Journal of Zhejiang University(Engineering Science), 2018, 52(7): 1406-1414.
13	赵常均. Hex-rotor无人飞行器执行单元的故障分析与飞行控制[D]. 北京: 中国科学院大学, 2015.
	Zhao Changjun. Fault Analysis of Execution Units and Flight Control for Hex-rotor Unmanned Aerial Vehicle[D]. Beijing: University of Chinese Academy of Sciences, 2015.
14	陈增强, 孙明玮, 杨瑞光. 线性自抗扰控制器的稳定性研究[J]. 自动化学报, 2013, 39(5): 574-580.
	Chen Zengqiang, Sun Mingwei, Yang Ruiguang. On the Stability of Linear Active Disturbance Rejection Control[J]. Acta Automatica Sinica, 2013, 39(5): 574-580.

[1]	Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Zheng. A UAV Target Tracking and Control Algorithm Based on SiamRPN [J]. Journal of System Simulation, 2023, 35(6): 1372-1380.
[2]	Dongyang Liu, Wenwen Zha, Liang Tao, Cheng Zhu, Lichuan Gu, Jun Jiao. Trajectory Control of Crawler Robot Based on LSTM and SMC [J]. Journal of System Simulation, 2023, 35(4): 747-759.
[3]	Yan Xiaohui, Yao Yuwu, Wu Yuhua, Xu Jiangxin. Adaptive Robust Trajectory Tracking Control for NSV with Multiple Stochastic Disturbances [J]. Journal of System Simulation, 2023, 35(11): 2359-2372.
[4]	Baolin Du, Dachang Zhu, Yihua Pan. Fuzzy Super-twisting Second Order Sliding Mode Trajectory Tracking Control for Robotic Manipulator [J]. Journal of System Simulation, 2022, 34(6): 1343-1352.
[5]	Da Jiang, Zhiqin Cai, Zhongzhen Liu, Haijun Peng, Zhigang Wu. Reinforcement-learning-based Adaptive Tracking Control for a Space Continuum Robot Based on Reinforcement Learning [J]. Journal of System Simulation, 2022, 34(10): 2264-2271.
[6]	Lu Hongguang, Zhao Shuen. Research on Intelligent Vehicle Trajectory Tracking Control Based on Robust Model Prediction [J]. Journal of System Simulation, 2022, 34(1): 153-162.
[7]	Qiming Wang, Jiangyue Jiang, Zhichao Lü, Hanzu Zhang. Research on Cooperative Adaptive Cruise Control Strategy Based on Improved MPC [J]. Journal of System Simulation, 2022, 34(09): 2087-2097.
[8]	Pan Hongguang, Gao Lei, Mi Wenyu. MPC Algorithm Design Based on Improved Macroscopic Traffic Flow Model [J]. Journal of System Simulation, 2021, 33(8): 1875-1881.
[9]	Zhang Ruimin, Chen Qiaoyu. Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode [J]. Journal of System Simulation, 2021, 33(6): 1315-1322.
[10]	Leng Yao, Zhao Shuen. Explicit Model Predictive Control for Intelligent Vehicle Lateral Trajectory Tracking [J]. Journal of System Simulation, 2021, 33(5): 1177-1187.
[11]	Zhang Kunping, Hao Lin. Frequency Coordinated Control Strategy of Microgrid Based on Fuzzy Prediction [J]. Journal of System Simulation, 2021, 33(3): 581-590.
[12]	Li Xiaohe, Wu Jianping, Peng Depin. Predictive Control Method of Peak Hour Passenger Flow at Urban Rail Station [J]. Journal of System Simulation, 2021, 33(12): 2952-2958.
[13]	Fan Cunli, Dai Juan, Liu Haitao, Su Zhong, Zhu Cui, Xu Wenting. Trajectory Tracking Control of Planetary Entry Phase Based on Neural Network and Fractional Sliding Mode [J]. Journal of System Simulation, 2021, 33(11): 2697-2703.
[14]	Li Zhongbo, Jia Meng, Kang Yan, Wang Haihong, Li Miao, Lü Qing, Xie Jingjing, Fang Dajun. Real-Time Prediction of Primary Flow by MPC Method in Heating System [J]. Journal of System Simulation, 2021, 33(1): 180-188.
[15]	Li Hui, Xie Yingnan, Lan Liqi. Ship's Rudder/Fin Joint Anti-Rolling MPC Control Based on Feedback Linearization [J]. Journal of System Simulation, 2020, 32(9): 1753-1761.