Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle: Roadmap to Improve Tracking-Trajectory Performance in the Presence ... in Systems, Decision and Control, 384) PDF
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Studies in Systems, Decision and Control 384 Moussa Labbadi Yassine Boukal Mohamed Cherkaoui Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle Roadmap to Improve Tracking-Trajectory Performance in the Presence of External Disturbances Studies in Systems, Decision and Control Volume 384 SeriesEditor JanuszKacprzyk,SystemsResearchInstitute,PolishAcademyofSciences, Warsaw,Poland The series “Studies in Systems, Decision and Control” (SSDC) covers both new developments and advances, as well as the state of the art, in the various areas of broadly perceived systems, decision making and control–quickly, up to date and withahighquality.Theintentistocoverthetheory,applications,andperspectives on the state of the art and future developments relevant to systems, decision making,control,complexprocessesandrelatedareas,asembeddedinthefieldsof engineering,computerscience,physics,economics,socialandlifesciences,aswell astheparadigmsandmethodologiesbehindthem.Theseriescontainsmonographs, textbooks, lecture notes and edited volumes in systems, decision making and control spanning the areas of Cyber-Physical Systems, Autonomous Systems, Sensor Networks, Control Systems, Energy Systems, Automotive Systems, Biological Systems, Vehicular Networking and Connected Vehicles, Aerospace Systems, Automation, Manufacturing, Smart Grids, Nonlinear Systems, Power Systems, Robotics, Social Systems, Economic Systems and other. Of particular valuetoboththecontributorsandthereadershiparetheshortpublicationtimeframe and the world-wide distribution and exposure which enable both a wide and rapid disseminationofresearchoutput. IndexedbySCOPUS,DBLP,WTIFrankfurteG,zbMATH,SCImago. AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. Moreinformationaboutthisseriesathttp://www.springer.com/series/13304 · · Moussa Labbadi Yassine Boukal Mohamed Cherkaoui Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle Roadmap to Improve Tracking-Trajectory Performance in the Presence of External Disturbances MoussaLabbadi YassineBoukal EngineeringforSmartandSustainable DepartmentofAeronautics,Space SystemsResearchCenter,Mohammadia andDefense SchoolofEngineers CapgeminiEngineering MohammedVUniversityinRabat Toulouse,France Rabat,Morocco MohamedCherkaoui EngineeringforSmartandSustainable SystemsResearchCenter,Mohammadia SchoolofEngineers MohammedVUniversityinRabat Rabat,Morocco ISSN2198-4182 ISSN2198-4190 (electronic) StudiesinSystems,DecisionandControl ISBN978-3-030-81013-9 ISBN978-3-030-81014-6 (eBook) https://doi.org/10.1007/978-3-030-81014-6 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SwitzerlandAG2022 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. 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ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Thisworkisdedicatedto MybrotherMohamedLABBADI,deceasedin theprimeofhislife.MayAllah,theAlmighty, havehiminhisholymercy! —MoussaLabbadi MyfatherLarbiBOUKAL,whopassedaway tooearly,andwhoalwayspushedand motivatedmeinmystudies.MayGod,the Almighty,havehiminhisholymercy! —YassineBoukal Preface The present book aims to develop and design some robust nonlinear flight control strategiesforthequadrotorUAV(QUAV)systeminthepresenceofexternaldistur- bances,andthesystemuncertainties.Thisbookpresentsnewcontrolapproachesto synthesizethenonlinearcontrolofthetrajectoryoftheQUAV.Despitearichlitera- ture,theproblemhasnotyetbeenadequatelyaddressedanditisdifficulttoprovide high-precisionflightpathfollowinginthepresenceofthesedisturbances.Thiswork proposedrobustcontroltechniquestoachieveadequateset-pointtrackingofdifferent complex trajectories of QUAV and unknown disturbance rejection with smoother controlaction.Basedonslidingmodecontrol(SMC)theory,backsteppingtechnique, fractional-ordercalculus,andadaptivelaws,trackingmethodsarepresentedforthe QUAV.Themainmotivationsofthisbookaregivenbythefollowingpoints: 1. DesigningacontrolstrategyforQUAVtomeetcertainrequirements(precision, minimumenergyconsumption,andsimplestructure)posesanadditionalchal- lenge.Also,thedesignofflightcontrollersforthesemulti-rotordronespresents threeimportantchallenges:(i)thevehicledynamicsaremulti-input,multi-output (MIMO) and strongly nonlinear coupled; (ii) the dynamics of the quadrotor involve various sources of uncertainties, including parametric uncertainties, unmodeleduncertainties,andexternaldisturbances;(iii)therearemultiplestates varyingovertimeandentrydelaysintocontrolsystems.So,thisbookproposes robustflightcontrolschemesagainsttheseperturbations. 2. Inthepresenceofexternaldisturbances,thetrajectoryfollowingperformance oftheQUAVmaybedegraded,anditsdynamicsystemsmayalsoleadtoinsta- bility.ThecouplingbetweenthepositionandattitudeoftheQUAVincreasesthe stabilityproblemwithsatisfiedperformance.Hence,disturbancesthataffected theQUAVsystemshouldbeconsideredinthedesignoftheflightcontrollerto enhancetheQUAVcontrolperformance.Thehigh-orderSMCisusuallyapplied to nonlinear complex systems under disturbances. The super-twisting and its versioncontrolsaresuccessfullyadaptedtononlinearsystems. 3. ItisgenerallyknownthattheSMCtechniqueappliedforQUAVisrobustcontrol, butdoesnotguaranteefinitetimeconvergence.Also,thesystemuncertaintiescan vii viii Preface degradethecontrolperformance.Asaresult,thenonlinearslidingmodevariables aredesignedandparametricuncertaintiesarerejectedtoenhancedtheperfor- manceoftheclosed-loopsystem.Inaddition,somecontrollawsaredeveloped toguaranteetheslidingmodeoftheQUAVstatesintheinitialtime.Therefore, thedevelopmentofhybridfinite-timecontrolandglobalSMCissignificantfor thecontrolofQUAVsystemswithperturbations. 4. Designadaptivelawswithfinite-timecontroloftheerrorstozerooftheQUAV inthepresenceofdisturbancesanduncertaintiesareachallengingproblemfor thistypesystem.Therefore,consideringthesecontrolproblemsandguaranteeing the finite-time stability as well as specific criteria such as perturbation rejec- tionandrobustnesstotheparametricuncertaintiesofthesystemareverysignif- icant for the QUAV. Also, the upper bound of these perturbations is assumed tobeknowninadvance:inreality,thislimitisunknownanddifficulttodeter- mine. Moreover, it is a challenging problem to develop the control laws for addressingtheseperturbationsandguaranteethefinite-timestability.Therefore, time-varyingSMC,terminalSMC,andnonsingularterminalSMCschemeswith adaptivelawsneedtobefurtherstudiedforQUAVsystemsinthepresenceof externalwinddisturbancesandparametricuncertainties. 5. The design of robust nonlinear controls with the fractional-order dynamics suchashigh-orderSMC,TSMC,nonsingularTSMC,backsteppingtechniques, the path following of the QUAV is realized and better robustness can be obtainedagainstparametricuncertaintiesandperturbations.Theseflightcontrol methodsareimportantwhentheQUAVisaffectedbyunknowncomplexdistur- bancesduringflightmissions.Thecontrolperformanceofthesefractional-order controllersmaybebetterthanintegercontrollers.Therefore,itisimportantto studythesecontrolschemesfortheQUAV.Thecontrolperformanceincludingthe transientandsteadystatesofthetrackingerrorsshouldbeenhancedfortheQUAV inthepresenceofunknowndisturbancestominimizetheconsummationerror energy.Thestudyusesrobustnonlinearcontrollersincludingfractionaldynamics oftheseactions.Usingthese,theaboveperformancecanbeimprovedunderthe effectofdisturbances. Themaincontributionsoftheresearchworkcarriedoutinthisbookareshown asfollows: Firstly,onthebasicoftheresultresearchonthehigh-orderSMCfortheQUAV, a combination of the integral SMC with the super-twisting algorithm to eliminate thereticencephenomenonispresented.Thiscontrolmethodisproposedtostabilize theQUAVtofollowapathinthepresenceofperturbations.Vehiclestatevariables convergetotheirdesiredvaluesinashorttimeataspecifiedtime.Inordertoincrease therobustnessofthecontrolsystem,anewoptimizationisusedtoadjusttheproposed controllerparameters.Inaddition,anovelmodifiedsuper-twistingiscombinedwith thenonlinearslidingmodecontrollertoimprovethestabilizationofthisvehicleunder time-varyingdisturbances.Usingnonlinearslidingmodevariables,fastconvergence ofposition/attitudeoutputsisestablished.Thiscontroltechniqueofferssomeperfor- mance such as rejection of disturbances and reduction of chattering phenomenon. Preface ix TheproposedcontrolmethodsutilizetheLyapunovtheorytoprovethestabilityof thesystem.Todemonstratetheeffectivenessofthesecontrolapproaches,numerical simulationsaregiven. Secondly, for the path following of the QUAV under unknown disturbances, a hybrid finite-time control technique is proposed, which combines by three control algorithmsincludingintegralterminalslidingmodecontrolforattitudesubsystem, adaptivebacksteppingforaltitudechannel,andbacksteppingforhorizontalposition. Toeliminatethereachingphaseandensureslidingmodeofthestatevariablesofthe QUAV,arobustcontrollerisdesignedwhichtackingaccounttheinitialtime.Also,the upperboundoftheseperturbationsisaddressedusingtheproposedcontrolapproach. Theobtainedresultsinthepresenceofdisturbancesdemonstratetherobustnessof theproposedcontrollers.Also,theseobtainedresultsarecomparedwithnonlinear controllers. Thirdly,arobustapproachtocontrollingtheQUAVhasbeenproposed.Thecontrol techniqueisdesignedonthebasisofon-lineestimatorsofthedynamicparameters. These adaptation methods make it possible to improve the control performance of thissystem,andtocompensatefortheparametricerrorsduetothecouplingofthe positionwiththeorientationoftheQUAV.Thesuggestedcontrolmethodisbasedon thebacksteppingfastterminalSMCandanewversionoftheadaptivebackstepping. Theon-linerulesarepresentedtoestimateexactlysomeunknownparameterscaused by wind gust and other factors. To assess/emphasize the efficacy of the proposed controlmethodsfortheQUAV,varioussimulationsundervariousscenariosinterms of external perturbations and parametric uncertainties are performed. A compar- isonanalysisclearlydemonstratesthattheproposedcontrolschemesoutperformthe competition. Fourthly, it should be noted that all research works have focused on adaptive upper bound uncertainty estimation using terminal SMC and fast terminal SMC techniques.Inthisview,asecondcontrolapproachisproposedusinganewadap- tive nonsingular fast terminal SMC controller (ANFTSMC) for the QUAV under complex perturbations. The main advantage ANFTSM control is the avoidance of singularity,therapiditywhenstatesarefarfromtheorigin,andthehighrobustness against system uncertainty and external disturbances. Also, this controller ensures fastconvergence,avoidssingularities,resolvesthereticenceeffect,andoffersrobust- ness against unknown external perturbations and uncertainties. In addition, the upper limit of uncertainty and unknown external perturbations of the system are coveredbytheproposedcontrolapproach.On-lineestimationoftheseupperlimits isintroducedonlybyvelocityandpositionmeasurements.Varioussimulationsunder differentscenariosintermsofexternalperturbationsandparametricuncertaintiesare performedtoassess/emphasizetheeffectivenessoftheproposedcontrolmethodsfor theQUAV.Acomparativestudyclearlyshowstheoutperformanceoftheproposed controlschemes. Fifthly, the aerodynamics disturbances, parametric uncertainties, and noise measurements are considered for the design of adaptive global time-varying SMC (RAGTVSMC) for the trajectory tracking of the QUAV under the random distur- bances/uncertainties. The problem of initial control effort and reaching phase is x Preface addressedbytheproposedcontroller.Designingtime-varyingslidingmanifoldsfor theQUAVsystemmeettheimpacttimeandgiventheconvergenceinaspecifictime ofthestatevariablesinthepresenceofdisturbances.Inaddition,theupperboundof theseperturbationsisaddressedbydesigningtheadaptivelawsusingonlyvelocity andpositionofthetrackingerrors.TodemonstratetheeffetenessoftheRAGTVSMC method,simulationsareconducted. Sixthly,animprovedFOcontrolisproposedfortheQUAVtosolvetheproblems inthecontrolofthisvehicleincludingdisturbances,uncertainties,andthevariations of the drag coefficients. The FO control method uses super-twisting based on FO integralslidingmodevariablestoimprovethetrackingperformance.Also,ageneric switching law with FO dynamic is designed for the QUAV to address the distur- bances.Thecorrespondingcontrollerswithfractionalcalculusensurehighprecision, fastconvergence,andgoodrobustnessagainstperturbations.Goodscenariosunder different situations in the flight are proposed to evaluate the efficiency of the FO control method, and its numerical results show better performance compared with othercontrolstrategies. Seventhly, motivated by the advantage of the finite-time stability in the control theoryandfractionalcalculus,aFOglobalSMCapproachisproposedforthecontrol problemoftheuncertainQUAVundercomplexdisturbances.Thispresentedmethod usesthespecificslidingmanifoldstoensurefasterconvergencespeedandweakening error.TheglobalstabilizationwithaspecifictimeoftheQUAVunderdisturbancesis guaranteedbasedonLyapunovtheory.Finally,simulationsincludedagoodcompar- ison with robust controllers are performed to check the correctness of theoretical analysis. The nonlinear SMC such nonsingular fast TSMC with FO operators enhances the tracking performance of the QUAV against random disturbances/uncertainties and other perturbations. Also, adaptive control law is developed to augment the robustnessoftheproposedFOcontrolmethodinthepresenceofdisturbances.The designed control technique ensures high accuracy and fast speed for the QUAV. UsingFOnonsingularfastterminalslidingmanifolds,afinite-timeconvergenceof thetrackingerrorsisachieved. The present book intends to provide the readers an excellent understanding on howtoobtaintherobustcontrollerpathfollowingapproachesfortheQUAVsystem inthepresenceofknownorunknownuncertainties,disturbances,andotherproblems ofthecontrol.Thedesignedcontrolmethodsinthisbookcanbeappliedfornonlinear systemsundercomplexdisturbancesinvariousfieldsinengineering.Thebookcan beusedasareferencefortheacademicresearchonthecontroltheory,drones,and terminalslidingmodecontrol,andrelatedtothisorusedinPh.D.studyofcontrol theoryandtheirapplicationinfieldengineering. Rabat,Morocco MoussaLabbadi Toulouse,France YassineBoukal Rabat,Morocco MohamedCherkaoui May2021
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