NDLI: A Lyapunov-based three-axis attitude intelligent control approach for unmanned aerial vehicle

Content Provider	Springer Nature Link
Author	Mazinan, A.H.
Copyright Year	2015
Abstract	A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems. There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art. The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches, as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control. And the corresponding rotation angles are dealt with in the outer closed loop control. It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator (PD based LQR) approach under optimum coefficients, while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances. In order to complete the inner closed loop control, there is a pulse-width pulse-frequency (PWPF) modulator to be able to handle on-off thrusters. Furthermore, the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system, where the control allocation scheme is realized in the proposed strategy. It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results. At the end, the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.
Starting Page	4669
Ending Page	4678
Page Count	10
File Format	PDF
ISSN	20952899
Journal	Journal of Central South University of Technology
Volume Number	22
Issue Number	12
e-ISSN	22275223
Language	English
Publisher	Central South University
Publisher Date	2015-12-16
Publisher Place	Changsha
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Lyapunov based control approach PD based LQR approach control allocation scheme kinematics and dynamics unmanned aerial vehicle system on-off thrusters PWPF modulator Engineering Metallic Materials
Content Type	Text
Resource Type	Article
Subject	Metals and Alloys Engineering

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