TY - CHAP

T1 - U-model-based dynamic inversion control for quadrotor UAV systems

AU - Aziz Lone, Ahtisham

AU - Nemati, Hamidreza

AU - Zhu, Quanmin

AU - Mercorelli, Paolo

AU - Narayan, Pritesh

N1 - Publisher Copyright: © 2024 Elsevier Inc. All rights reserved.

PY - 2024/1/1

Y1 - 2024/1/1

N2 - A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a controller, which is made of two parts. The first part consists of a general controller designed independently to guarantee the performance requirements defined in advance. Secondly, this independent controller is then integrated with the inverse of the model. In this chapter, we consider a Parrot Mambo Minidrone as a research subject to simulate and validate the controller performance. The simulations results are presented at the end with graphical illustrations demonstrating the effectiveness of the proposed controller.

AB - A Model-Independent Design approach (U-Model) is studied with the example of Quadrotor UAV. A Multiple-Input Multiple-Output (MIMO) dynamic model of a quadrotor UAV is derived, and U-Model-based Dynamic Inverse control approach is used to design a controller, which is made of two parts. The first part consists of a general controller designed independently to guarantee the performance requirements defined in advance. Secondly, this independent controller is then integrated with the inverse of the model. In this chapter, we consider a Parrot Mambo Minidrone as a research subject to simulate and validate the controller performance. The simulations results are presented at the end with graphical illustrations demonstrating the effectiveness of the proposed controller.

KW - MIMO control

KW - Quadrotor control

KW - U-model dynamic inversion (UM-DI)

KW - U-model-based controller

UR - http://www.scopus.com/inward/record.url?scp=85189596142&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/a70e6a1f-ad02-36b3-9c0a-affa584c2c7e/

U2 - 10.1016/B978-0-32-395207-1.00025-1

DO - 10.1016/B978-0-32-395207-1.00025-1

M3 - Chapter

AN - SCOPUS:85189596142

SN - 978-0-323-95207-1

T3 - Emerging Methodologies and Applications in Modelling, Identification and Control Series

SP - 293

EP - 309

BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0

A2 - Mercorelli, Paolo

A2 - Zhang, Weicun

A2 - Nemati, Hamidreza

A2 - Zhang, Yuming

PB - Elsevier

CY - San Diego

ER -