A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems
Abstract
:1. Introduction
2. System Dynamics
3. Control Strategies
3.1. Conventional Time-Delayed Control Scheme
3.2. Proposed Extended Time-Delayed Control Scheme
3.3. Comparison with Conventional Time-Delayed Control Scheme
4. Simulation
4.1. Simulation Setup
4.2. Simulation Description
- Proportional-integral-derivative (PID) control scheme
- Conventional TDC scheme [24]
- (C1)
- All control parameters are set to be tuned to the zero reference trajectories without the ED, as shown in Figure 2a, i.e., . Nominal trajectory-tracking performances of all control schemes have been demonstrated.
- (C2)
- The ED is applied with regard to external pressure in this simulation, which is being increased continuously as shown in Figure 2b. Then, to illustrate the effectiveness of the time-varying switching gains in the proposed ETDC scheme, the trajectory-tracking performance of the proposed one is analyzed in accordance to the sampling period, i.e., 10 ms, 30 ms, and 50 ms.
- (C3)
- All control parameters are also set to be tuned in the zero reference trajectories, i.e., . After that, to evaluate the robust trajectory-tracking performance of all control schemes, the ED is added after 6 sec, which has the non-smooth points as shown in Figure 2c. It serves to significantly disturb the motion of the quadrotor system, which has anomalous direction.
4.3. Simulation Results
- (C1)
- Figure 5a shows a result in zero reference trajectory without the ED. As seen in Figure 2a, all control schemes have the similar level in trajectory-tracking performance. It implies that they have no significant difference in performance of reference trajectory without the ED. The root mean square (RMS) values of the trajectory-tracking errors are given in Table 1.
- (C2)
- Figure 5b shows a result in nominal trajectory-tracking performance while generating the ED. To illustrate the undesirable side effects generated by the abrupt ED (Figure 2b), a sinusoidal signal is added in the simulation procedure. The signal have strong external pressure instantaneously. As seen in Figure 5b, it can be observed that both the conventional TDC scheme and the proposed ETDC scheme work better than the PID control scheme in case of increasing ED continuously after 6 s. In detail, the proposed ETDC scheme has better performance than the conventional TDC scheme in vicinity of 6 s. It means that the proposed one provides precise trajectory-tracking performance while enhancing the robustness. The RMS values of the trajectory-tracking errors are given in Table 2.
- (C3)
- Figure 5c shows the trajectory-tracking errors in the external pressure with high frequency trajectory, i.e., a sinusoidal signal 2sin, unlike in Figure 5b. The ED causes negative results significantly in both the PID control scheme and the conventional TDC scheme. On the other hand, Figure 5c represents that the proposed ETDC scheme has improved the robustness compared to other control schemes. The RMS values of the trajectory-tracking errors are given in Table 3.
5. Discussion
5.1. Future Perspective
5.2. Supplementary Simulation
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
Appendix A. Proof of Stability
Appendix B. Parameters Tuning of Proposed Extended Time-Delayed Control Scheme
- (S1)
- To begin with, and in Equation (16) should be chosen to provide desirable error dynamics by the pole assignment when the TDE errors are assumed to be zero, i.e., . Then, , and are chosen to obtain dominant pole, and their initial values are specified as identity matrix I.
- (S2)
- Starting off from initial value in Equation (16), tuning it may be tractable because the inertial moment of a quadrotor system hardly changes. However, if the is too large, the trajectory-tracking performance will be degraded due to the noise effect generated by angular acceleration in Equation (16).
- (S3)
- After a standard setup, please check the imaginary motion of s in Equation (18) from the plot. Then, should be tuned to adjust the convergence rate of the s. It implies that the may be increased for fast convergence rate, and hence the poles may be slightly shifted from the imaginary axis.
- (S4)
- In order to guarantee the dominant pole, please align with .
- (S5)
- Please, repeat (S3) ∼ (S4) once again for achieving the desired level.
Appendix C. Parameters of All Control Schemes in Simulation
- (1)
- PID control scheme
- –
- P-gain: ,
- –
- I-gain:
- –
- D-gain: .
- (2)
- Conventional TDC scheme
- –
- ,
- –
- –
- .
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Control Strategies | Roll, (Deg) | Pitch, (Deg) | Yaw, (Deg) |
---|---|---|---|
PID control scheme | 2.20 | 1.94 | 2.32 |
Conventional TDC scheme [24] | 1.61 | 0.82 | 2.29 |
Proposed ETDC scheme | 1.40 | 0.51 | 1.69 |
Control Strategies | Roll, (Deg) | Pitch, (Deg) | Yaw, (Deg) |
---|---|---|---|
PID control scheme | 46.03 | 47.70 | 25.07 |
Conventional TDC scheme [24] | 2.46 | 2.39 | 1.54 |
Proposed ETDC scheme | 0.37 | 0.36 | 0.25 |
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Baek, J.; Jung, J. A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems. Electronics 2020, 9, 1586. https://doi.org/10.3390/electronics9101586
Baek J, Jung J. A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems. Electronics. 2020; 9(10):1586. https://doi.org/10.3390/electronics9101586
Chicago/Turabian StyleBaek, Jaemin, and Jinmyung Jung. 2020. "A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems" Electronics 9, no. 10: 1586. https://doi.org/10.3390/electronics9101586
APA StyleBaek, J., & Jung, J. (2020). A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems. Electronics, 9(10), 1586. https://doi.org/10.3390/electronics9101586