Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator

doi:10.1109/TCST.2018.2872462

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	Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator
	Lei, Wenchao 1,2; Li, Chanying 1,2; Chen, Michael Z. Q.3
	2019-11-01
发表期刊	IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN	1063-6536
卷号	27 期号:6 页码:2663-2671
摘要	This brief is concerned with the robust adaptive tracking control problem of quadrotors. Considering the practicality of control laws to be designed, the self-tuning regulator (STR) for discrete-time systems is employed as our inner loop adaptive tracking mechanism and the classical proportional-integral (PI) control is designed for the outer loop to guarantee the robustness of the whole system. The main contributions of our work include: 1) we design the control laws for the actuator inputs (pulsewidth modulation signals) directly, which removes the need to measure the motor speeds and 2) the proposed PI-STR method can reduce the large overshoot of a single STR and retain the adaptability of the STR and the robustness of the PI control simultaneously. Furthermore, the outer loop PI controller and inner loop STR can easily be implemented in the digital form. The stability analysis is also provided. Simulations indicate that the PI-STR-based control structure can cope with the situations where vehicles are disturbed or have time-varying parameters. Our preliminary experiments show its practicality.
关键词	Adaptation models Adaptive control Control systems Dynamic scheduling Robustness Pulse width modulation Proportional-integral (PI) quadrotor robust adaptive control self-tuning regulator (STR) tracking control unmanned aerial vehicle (UAV)
DOI	10.1109/TCST.2018.2872462
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61422308] ; National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61873129] ; National Key Basic Research Program of China (973 Program)[2014CB845301]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000492299000032
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/50676
专题	中国科学院数学与系统科学研究院
通讯作者	Li, Chanying
作者单位	1.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China 3.Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
推荐引用方式 GB/T 7714	Lei, Wenchao,Li, Chanying,Chen, Michael Z. Q.. Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2019,27(6):2663-2671.
APA	Lei, Wenchao,Li, Chanying,&Chen, Michael Z. Q..(2019).Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,27(6),2663-2671.
MLA	Lei, Wenchao,et al."Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27.6(2019):2663-2671.