Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods
Unmodelled dynamic factors are either the left-over or the estimated factors such as lower or upper bound values while modelling any mechatronic system. Hence, with the inclusion of under-actuation in a system such as fewer number of actuators as compared to degrees of freedom, this will lead the sy...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Published: |
SAGE Publications Ltd
2020
|
| Online Access: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85092743861&doi=10.1177%2f0020294020964236&partnerID=40&md5=0a2072e3c60b94d6e1cf3d0b6a7941ef http://eprints.utp.edu.my/29775/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| id |
my.utp.eprints.29775 |
|---|---|
| record_format |
eprints |
| spelling |
my.utp.eprints.297752022-03-25T02:49:42Z Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods Abro, G.E.M. Asirvadam, V.S. Bin Mohd Zulkifli, S.A. Sattar, A. Kumar, D. Anwer, A. Unmodelled dynamic factors are either the left-over or the estimated factors such as lower or upper bound values while modelling any mechatronic system. Hence, with the inclusion of under-actuation in a system such as fewer number of actuators as compared to degrees of freedom, this will lead the system to high instability. These factors are changing instantly during multiple flights of quadrotor that is, the values of these factors in path following may vary from the values in hovering mode. Hence, it is one of the strenuous tasks to tackle these unmodelled dynamic factors for the multiple flight modes of an underactuated quadrotor craft. One of the better ways for tracking control of a quadrotor aerial vehicle with unmodelled dynamics is to observe and estimate the instant change in parameters. Thus, this paper exhibits an extensive review of several hybrid observer design methods being fused with some novel control strategies. In addition to this, the survey paper also summarises the limitations of the current state of the art approaches. This paper demonstrates an unexplored field of study where researchers must need to evaluate the performance of hybrid observer design methods. © The Author(s) 2020. SAGE Publications Ltd 2020 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85092743861&doi=10.1177%2f0020294020964236&partnerID=40&md5=0a2072e3c60b94d6e1cf3d0b6a7941ef Abro, G.E.M. and Asirvadam, V.S. and Bin Mohd Zulkifli, S.A. and Sattar, A. and Kumar, D. and Anwer, A. (2020) Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods. Measurement and Control (United Kingdom), 53 (9-10). pp. 1978-1987. http://eprints.utp.edu.my/29775/ |
| 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 |
Unmodelled dynamic factors are either the left-over or the estimated factors such as lower or upper bound values while modelling any mechatronic system. Hence, with the inclusion of under-actuation in a system such as fewer number of actuators as compared to degrees of freedom, this will lead the system to high instability. These factors are changing instantly during multiple flights of quadrotor that is, the values of these factors in path following may vary from the values in hovering mode. Hence, it is one of the strenuous tasks to tackle these unmodelled dynamic factors for the multiple flight modes of an underactuated quadrotor craft. One of the better ways for tracking control of a quadrotor aerial vehicle with unmodelled dynamics is to observe and estimate the instant change in parameters. Thus, this paper exhibits an extensive review of several hybrid observer design methods being fused with some novel control strategies. In addition to this, the survey paper also summarises the limitations of the current state of the art approaches. This paper demonstrates an unexplored field of study where researchers must need to evaluate the performance of hybrid observer design methods. © The Author(s) 2020. |
| format |
Article |
| author |
Abro, G.E.M. Asirvadam, V.S. Bin Mohd Zulkifli, S.A. Sattar, A. Kumar, D. Anwer, A. |
| spellingShingle |
Abro, G.E.M. Asirvadam, V.S. Bin Mohd Zulkifli, S.A. Sattar, A. Kumar, D. Anwer, A. Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| author_facet |
Abro, G.E.M. Asirvadam, V.S. Bin Mohd Zulkifli, S.A. Sattar, A. Kumar, D. Anwer, A. |
| author_sort |
Abro, G.E.M. |
| title |
Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| title_short |
Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| title_full |
Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| title_fullStr |
Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| title_full_unstemmed |
Effects of unmodelled dynamic factors on an under-actuated quadrotor: A review of hybrid observer design methods |
| title_sort |
effects of unmodelled dynamic factors on an under-actuated quadrotor: a review of hybrid observer design methods |
| publisher |
SAGE Publications Ltd |
| publishDate |
2020 |
| url |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85092743861&doi=10.1177%2f0020294020964236&partnerID=40&md5=0a2072e3c60b94d6e1cf3d0b6a7941ef http://eprints.utp.edu.my/29775/ |
| _version_ |
1738657013734309888 |
| score |
13.211869 |