U-model-based dynamic inversion control for quadrotor UAV systems
Research output: Contributions to collected editions/works › Chapter › peer-review
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U-model-based dynamic inversion control for quadrotor UAV systems. / Aziz Lone, Ahtisham; Nemati, Hamidreza; Zhu, Quanmin et al.
Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Elsevier, 2024. p. 293-309.Research output: Contributions to collected editions/works › Chapter › peer-review
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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
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 - 9780323952088
SP - 293
EP - 309
BT - Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
PB - Elsevier
ER -