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Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System

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  • Control Theory and Applications
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Abstract

This paper presents a robust nonlinear output feedback control method that achieves three degree of freedom (3-DOF) attitude trajectory tracking of a hover system test bed. The proposed control method formally incorporates dynamic model uncertainty in addition to test bed voltage constraints. To reduce the computational requirement in the closed-loop system, constant feedforward estimates of the input-multiplicative parametric uncertainty are utilized in lieu of adaptive parameter estimates. To eliminate the need for angular rate measurements, the control design employs a bank of dynamic filters, which operates as a velocity estimator in the closed-loop system. A rigorous error system development and Lyapunov-based stability analysis are presented to prove asymptotic 3-DOF attitude trajectory tracking control. Computer simulation and experimental results are also included to illustrate the performance of the attitude control method using the Quanser 3-DOF hover system test bed.

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Authors and Affiliations

  1. Department of Physical Sciences, Embry-Riddle Aeronautical University, Daytona Beach, FL, 32114, USA

    Derek Hoffman, Muhammad Rehan & William MacKunis

  2. Department of Engineering, University of North Carolina at Asheville, Asheville, NC, 28804, USA

    Mahmut Reyhanoglu

Authors
  1. Derek Hoffman
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  2. Muhammad Rehan
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  3. William MacKunis
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  4. Mahmut Reyhanoglu
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Corresponding author

Correspondence to Mahmut Reyhanoglu.

Additional information

Recommended by Associate Editor Shihua Li under the direction of Editor Myo Taeg Lim.

Derek Hoffman received his Ph.D. degree in Engineering Physics from Embry- Riddle Aeronautical University, Daytona Beach, in 2018 with a dissertation focus in nonlinear control of underactuated and constrained systems. Shortly after, he began employment with Raytheon Missile Systems in Tucson, AZ as a senior systems engineer under the Guidance, Navigation, and Control department.

Muhammad Rehan received his Ph.D. degree in Engineering Physics from Embry Riddle Aeronautical University, Daytona Beach, in 2018 with a dissertation focus in dynamics and control of a class of nonholonomic systems. After completing his doctoral studies, he began working as a postdoctoral fellow at the University of Central Florida. His current research focus is on data analytic for energy management systems.

William MacKunis received his Ph.D. degree in 2009 from the Department of Mechanical and Aerospace Engineering at the University of Florida (UF) as a UF Alumni Fellow. After completing his doctoral studies, he was selected as a National Research Council (NRC) Postdoctoral Research Associate at the Air Force Research Laboratory Munitions Directorate at Eglin Air Force Base, where he worked in the Guidance and Navigation Division. In 2010, Dr. MacKunis joined the faculty of Embry-Riddle Aeronautical University in the Department of Physical Sciences, where he is currently an associate professor. His main research is in the development and application of Lyapunov-based control techniques for mechanical and aerospace systems with uncertain nonlinear dynamic models. He is the co-author of two book chapters and over 80 refereed journal articles and conference papers. He is currently or has served as an associate editor for the IEEE Control Systems Society (CSS) Editorial Board and Journal of Control Science and Engineering.

Mahmut Reyhanoglu is presently the Glaxo Wellcome Distinguished Professor of Engineering at the University of North Carolina at Asheville, North Carolina, USA. His major research interests are in the areas of nonlinear dynamical systems and control theory, with particular emphasis on applications to mechatronics and aerospace systems. He has edited 3 books, and authored/co-authored several book chapters and over 130 peer-reviewed journal/proceedings papers. He served on the IEEE Transactions on Automatic Control Editorial Board and on the IEEE Control Systems Society Conference Editorial Board as an Associate Editor. He also served as International Program Committee member for several conferences and as a member of AIAA Guidance, Navigation, and Control Technical Committee. He is currently serving as an editor of International Journal of Aerospace Engineering.

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Hoffman, D., Rehan, M., MacKunis, W. et al. Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System. Int. J. Control Autom. Syst. 16, 2575–2584 (2018). https://doi.org/10.1007/s12555-018-0112-z

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  • DOI: https://doi.org/10.1007/s12555-018-0112-z

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