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Adaptive Robust Control for Quadrotors with Unknown Time-Varying Delays and Uncertainties in Dynamics
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-1883-7912
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-1437-1809
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2022 (English)In: Drones, E-ISSN 2504-446X, Vol. 6, no 9, article id 220Article in journal (Refereed) Published
Abstract [en]

This article proposes an adaptive controller for a quadrotor UAV for carrying unknown payloads while tracking any trajectory. The proposed adaptive controller is robust to modeling uncertainties and does not require any a priori knowledge of the bounds of the uncertainties. The controller is also robust to time-varying delays without any constraint on the derivative of the time delay. In addition, the stability of the closed-loop system is analyzed via a Lyapunov-like method. The controller’s performance is verified using a simulated quadrotor model in MATLAB in three different scenarios with varying time delays and parametric uncertainties. 

Place, publisher, year, edition, pages
MDPI , 2022. Vol. 6, no 9, article id 220
Keywords [en]
autonomous robots, quadrotor uav, adaptive robust controller, time-delay, nonlinear control-delay
National Category
Control Engineering Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-93745DOI: 10.3390/drones6090220ISI: 000857789700001Scopus ID: 2-s2.0-85138669978OAI: oai:DiVA.org:ltu-93745DiVA, id: diva2:1706801
Funder
EU, Horizon 2020, AERO-TRAIN 953454
Note

Validerad;2022;Nivå 2;2022-10-27 (sofila)

Available from: 2022-10-27 Created: 2022-10-27 Last updated: 2023-10-31Bibliographically approved
In thesis
1. Adaptive control for robots to handle uncertainties, delays and state constraints
Open this publication in new window or tab >>Adaptive control for robots to handle uncertainties, delays and state constraints
2023 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The stability and safety of robotic systems are heavily impacted by delays and parametric uncertainties due to external disturbances, modeling inaccuracies, reaction forces, and variations in dynamics. This work addresses the effects of parametric uncertainties in the application of payload transportation by robotic systems that involve time delays and state constraints. The problem is split into two research questions: control of a quadrotor UAV in the presence of delays and control of robotic systems with state constraints.

The first two papers explore the approaches for remotely operated quadrotors in the presence of delays and uncertainties. Specifically, the first paper surveys the existing methods for controlling a payload-carrying UAV and further presents a class of control techniques in theory that focus on time-delayed systems. The second paper proposes an adaptive control solution for the tracking control of a quadrotor UAV to transport various unknown payloads in the presence of unknown time-varying delays. The proposed controller is robust to modeling uncertainties and does not require knowledge of the uncertainties' bounds. The performance of the controller is verified on a MATLAB-SIMULINK simulated environment.

The final three papers deal with enforcing state constraints on tracking control to ensure the safety of the robots in the presence of parametric uncertainties. The third paper exploits state constraints in the post-grasping scenario of the space debris disposal application. This work proposes a robust control for a space robot to follow the desired trajectory without any violation to safely grasp, carry, and release unknown payloads in their respective regions. The controller is tested in a MATLAB-SIMULINK environment with the dynamics of a planar space robot. The fourth paper introduces an adaptive control technique without any a priori knowledge of the system dynamics or the bounds of uncertainties to impose state constraints in control. The proposed controller is designed for a generic Euler-Lagrangian system in the presence of parametric uncertainties, where the state-dependent nature of the uncertainties introduces unboundedness in the overall uncertainty. The controller is validated in simulation using a robotic manipulator in a pick-and-place operation. The final paper proposes an adaptive controller for the tracking control of an experimental planar space robot. The proposed controller enforces constraints on the robot's states and their derivatives on the tracking control for transporting different payloads without any knowledge of the dynamics of the robot or the bounds of the uncertainties. The controller is validated on the experimental space robot.

The stability of the proposed controllers is studied analytically using the Lyapunov theory. The results are presented with various plots and numerically analyzed on the metrics of root mean squared errors and peak errors.

Place, publisher, year, edition, pages
Luleå: Luleå University of Technology, 2023
Series
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Keywords
adaptive control, barrier funciton, nonlinear control
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101993 (URN)978-91-8048-424-4 (ISBN)978-91-8048-425-1 (ISBN)
Presentation
2023-12-01, A1545, Luleå University of Technology, Sweden, Luleå, 09:00 (English)
Opponent
Supervisors
Available from: 2023-11-01 Created: 2023-10-31 Last updated: 2023-11-10Bibliographically approved

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Sankaranarayanan, Viswa NarayananSatpute, SumeetNikolakopoulos, George

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