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

Ahtisham Aziz Lone; Hamidreza Nemati; Quanmin Zhu; Paolo Mercorelli; Pritesh Narayan

doi:10.1016/B978-0-32-395207-1.00025-1

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

Research output: Contributions to collected editions/works › Chapter › peer-review

Standard

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. ed. / Paolo Mercorelli; Weicun Zhang; Hamidreza Nemati; Yuming Zhang. San Diego: Elsevier, 2024. p. 293-309 (Emerging Methodologies and Applications in Modelling, Identification and Control Series).

Research output: Contributions to collected editions/works › Chapter › peer-review

Harvard

Aziz Lone, A, Nemati, H, Zhu, Q, Mercorelli, P & Narayan, P 2024, U-model-based dynamic inversion control for quadrotor UAV systems. in P Mercorelli, W Zhang, H Nemati & Y Zhang (eds), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. Emerging Methodologies and Applications in Modelling, Identification and Control Series, Elsevier, San Diego, pp. 293-309. https://doi.org/10.1016/B978-0-32-395207-1.00025-1

APA

Aziz Lone, A., Nemati, H., Zhu, Q., Mercorelli, P., & Narayan, P. (2024). U-model-based dynamic inversion control for quadrotor UAV systems. In P. Mercorelli, W. Zhang, H. Nemati, & Y. Zhang (Eds.), Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0 (pp. 293-309). (Emerging Methodologies and Applications in Modelling, Identification and Control Series). Elsevier. https://doi.org/10.1016/B978-0-32-395207-1.00025-1

Vancouver

Aziz Lone A, Nemati H, Zhu Q, Mercorelli P, Narayan P. U-model-based dynamic inversion control for quadrotor UAV systems. In Mercorelli P, Zhang W, Nemati H, Zhang Y, editors, Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0. San Diego: Elsevier. 2024. p. 293-309. (Emerging Methodologies and Applications in Modelling, Identification and Control Series). doi: 10.1016/B978-0-32-395207-1.00025-1

Bibtex

@inbook{2465a7553e9642caacb071a10413d341,

title = "U-model-based dynamic inversion control for quadrotor UAV systems",

abstract = "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.",

keywords = "MIMO control, Quadrotor control, U-model dynamic inversion (UM-DI), U-model-based controller",

author = "{Aziz Lone}, Ahtisham and Hamidreza Nemati and Quanmin Zhu and Paolo Mercorelli and Pritesh Narayan",

year = "2024",

month = jan,

day = "1",

doi = "10.1016/B978-0-32-395207-1.00025-1",

language = "English",

isbn = "978-0-323-95207-1",

series = "Emerging Methodologies and Applications in Modelling, Identification and Control Series",

publisher = "Elsevier",

pages = "293--309",

editor = "Paolo Mercorelli and Weicun Zhang and Hamidreza Nemati and Yuming Zhang",

booktitle = "Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0",

address = "France",

}

RIS

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

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 -

Other publications by the same author(s)

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, In: Sensors. 25, 2, 27 p., 479.