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Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer

The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbance...

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Main Authors: Mustafa Abro, G.E., Ali, Z.A., Zulkifli, S.A., Asirvadam, V.S.
Format: Article
Published: Hindawi Limited 2021
Online Access:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85122304229&doi=10.1155%2f2021%2f8791620&partnerID=40&md5=0336bd0ca19f95205daf70c8d52a9515
http://eprints.utp.edu.my/29320/
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spelling my.utp.eprints.293202022-03-25T01:33:49Z Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer Mustafa Abro, G.E. Ali, Z.A. Zulkifli, S.A. Asirvadam, V.S. The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbances. The manuscript consists of the derivations related to the kinematics and dynamics of quadrotor dully derived using the Newton Euler approach. It is one of the strenuous tasks to stabilize and control the quadrotor for helical trajectory tracking since it is an underactuated mechatronic system. In addition to this, with inclusion of unmodelled dynamic factors, it faces some of the serious transient and steady-state issues including Zeno noise. In this research manuscript, dual-loop single-dimension fuzzy sliding mode control (DLSDF-SMC) is proposed to improve the helical trajectory tracking performance, and to tackle the unmodelled dynamic factors, a state feedback controller is proposed consisting of a position estimator and disturbance observer design. The entire system is distributed into two subsystems such that within the angular subsystem, the attitude control is proposed using DLSDF-SMC, and for the translational subsystem, the paper proposes the position control design based on the hyperbolic function to avoid the gimbal lock issue. The overall stability of the proposed closed-loop control scheme is also proved. The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs. This work demonstrates that the DLSDF-SMC control technique with position estimator and disturbance observer design in feedback not only improves the aggressive maneuvers while tracking the helical trajectory but also tackles the transient and steady-state issues. © 2021 Ghulam E. Mustafa Abro et al. Hindawi Limited 2021 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85122304229&doi=10.1155%2f2021%2f8791620&partnerID=40&md5=0336bd0ca19f95205daf70c8d52a9515 Mustafa Abro, G.E. and Ali, Z.A. and Zulkifli, S.A. and Asirvadam, V.S. (2021) Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer. Mathematical Problems in Engineering, 2021 . http://eprints.utp.edu.my/29320/
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Institutional Repository
url_provider http://eprints.utp.edu.my/
description The main aim of this manuscript is to design and demonstrate the performance of different control algorithms with position estimator and disturbance observer to track the helical trajectory by an underactuated quadrotor craft under the influence of unmodelled dynamic factors and external disturbances. The manuscript consists of the derivations related to the kinematics and dynamics of quadrotor dully derived using the Newton Euler approach. It is one of the strenuous tasks to stabilize and control the quadrotor for helical trajectory tracking since it is an underactuated mechatronic system. In addition to this, with inclusion of unmodelled dynamic factors, it faces some of the serious transient and steady-state issues including Zeno noise. In this research manuscript, dual-loop single-dimension fuzzy sliding mode control (DLSDF-SMC) is proposed to improve the helical trajectory tracking performance, and to tackle the unmodelled dynamic factors, a state feedback controller is proposed consisting of a position estimator and disturbance observer design. The entire system is distributed into two subsystems such that within the angular subsystem, the attitude control is proposed using DLSDF-SMC, and for the translational subsystem, the paper proposes the position control design based on the hyperbolic function to avoid the gimbal lock issue. The overall stability of the proposed closed-loop control scheme is also proved. The simulation work for the proposed algorithm is performed using MATLAB and Simulink software and compared with the conventional sliding mode control (SMC) and fuzzy-based SMC control designs. This work demonstrates that the DLSDF-SMC control technique with position estimator and disturbance observer design in feedback not only improves the aggressive maneuvers while tracking the helical trajectory but also tackles the transient and steady-state issues. © 2021 Ghulam E. Mustafa Abro et al.
format Article
author Mustafa Abro, G.E.
Ali, Z.A.
Zulkifli, S.A.
Asirvadam, V.S.
spellingShingle Mustafa Abro, G.E.
Ali, Z.A.
Zulkifli, S.A.
Asirvadam, V.S.
Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
author_facet Mustafa Abro, G.E.
Ali, Z.A.
Zulkifli, S.A.
Asirvadam, V.S.
author_sort Mustafa Abro, G.E.
title Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
title_short Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
title_full Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
title_fullStr Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
title_full_unstemmed Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
title_sort performance evaluation of different control methods for an underactuated quadrotor unmanned aerial vehicle (quav) with position estimator and disturbance observer
publisher Hindawi Limited
publishDate 2021
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85122304229&doi=10.1155%2f2021%2f8791620&partnerID=40&md5=0336bd0ca19f95205daf70c8d52a9515
http://eprints.utp.edu.my/29320/
_version_ 1738656949130493952
score 13.211869

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