H.6.5.11. Robotics
Seyedeh Mahsa Zakipour Behambari; Saeed Khankalantary
Abstract
This paper focuses on the design of advanced controllers and the implementation of magnetic tracking and velocity tracking at the position control and formation control levels for a group of quadcopters. Initially, PID controllers are developed based on the quadcopter structure, and then a constrained ...
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This paper focuses on the design of advanced controllers and the implementation of magnetic tracking and velocity tracking at the position control and formation control levels for a group of quadcopters. Initially, PID controllers are developed based on the quadcopter structure, and then a constrained fuzzy-PID controller is introduced to steer the system to the desired position. The performance of this controller is compared with classical PID and fuzzy-PID controllers. This study examines the arrangement and formation coordination of six quadcopters under three different scenarios, evaluating their formation control and coordination. Each quadcopter has an internal controller responsible for maintaining formation accuracy and system stability. Due to the complexity of quadcopter dynamics, trajectory tracking is one of the most challenging research areas. In this regard, a fuzzy-PID controller is proposed to stabilize the quadcopter along predefined trajectories, utilizing speed information as input. Simulation results in the MATLAB/Simulink environment demonstrate that the fuzzy-PID controller outperforms the classical PID controller. Moreover, this controller exhibits greater resistance to external disturbances across all axes, higher accuracy in reducing tracking errors, and improved stability. This superiority is particularly evident in multi-agent systems, emphasizing the significance of advanced control techniques in enhancing the regulation of both single and multi-agent quadcopters. Ultimately, this improves tracking performance while ensuring dynamic efficiency in uncertain environments.
N. Zendehdel; S. J. Sadati; A. Ranjbar Noei
Abstract
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative ...
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This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive law, which is independent upon the knowledge of disturbance boundary limit and its derivative. The approach tends to play a significant role to reduce the chattering effect which is prevalent in conventional sliding mode controllers. To guarantee the stability of the proposed control technique, the Lyapunov theory is used. Simulation results illustrate the validity of the proposed control scheme compared to the finite-time tracking control method.
