Skip to main content
Springer Nature Link
Log in

Randomized Approaches for Control of QuadRotor UAVs

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

A systematic mixed deterministic-randomized approach for filter design is presented. This method has two advantages: (i) it is a computational efficient algorithm for the deterministic parameters and (ii) we can design fixed order controllers because we follow a randomization approach. Different filter forms are selected to prove the effectiveness of this algorithm and the obtained results are applied to a multi rotor UAV. Both linear and experimental models are analyzed. For the linear case a comparison with a LQR controller is proposed to prove that with this filter the designed controller permits to minimize the noise due to the coupling effects between the different control axes. This design is useful to reduce the set up time of an adaptive controller filter if different maneuvers or aircraft parameters are considered.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Bajicinca, N.: Design of robust PID controllers using decoupling at singular frequencies. Automatica 42, 1943–1949 (2006)

    Article  Google Scholar 

  2. Bouabdallah, S., Noth, A., Siegwart, R.: PID vs LQ control techniques applied to an indoor micro quadrotor. In: Proceedings of 2004 IEEE/RSJ International Conference On Intelligent Robots and Systems, Sendai, Japan (2004)

  3. Calafiore, G., Dabbene, F., Tempo, R.: Research on probabilistic methods for control system design. Automatica 47, 1279–1293 (2011)

    Article  MATH  MathSciNet  Google Scholar 

  4. Cao, C., Hovakimyan, N.: Design and analysis of a novel \(\mathcal{L}_1\) adaptive control archicture with guaranteed transient performance. IEEE Trans. Autom. Control 53(2), 586–591 (2008)

    Article  MathSciNet  Google Scholar 

  5. Cao, C., Hovakimyan, N.: \(\mathcal{L}_1\) adaptive output-feedback controller for non-strictly-positive-real reference systems: missile longitudinal autopilot design. AIAA J. Guid. Control Dyn. 32, 717–726 (2009)

    Article  Google Scholar 

  6. Capello, E., Guglieri, G., Quagliotti, F.: Modeling and simulation of a small quad-rotor UAV. Aerotecnica Missili e Spazio, J. Aerosp. Sci. Technol. Syst. 89, 90–99 (2010)

    Google Scholar 

  7. Capello, E., Guglieri, G., Quagliotti, F., Scola, A.: An innovative quad-rotor UAV: design and experiments. J. Aerosp. Eng. 25, 559–573 (2012)

    Article  Google Scholar 

  8. Capello, E.: Robust and Adaptive Control Laws for a Mini Quad-Rotor UAV. LAP LAMBERT Academic Publishing, Saarbrücken (2012)

    Google Scholar 

  9. Capello, E., Tempo, R.: A simulation-based approach for control design of uncertain UAVs. In: Proceedings of 51st Conference on Decision and Control, Maui, USA (2012)

  10. Capello, E., Quagliotti, F., Tempo, R.: Randomized approaches and adaptive control for quadrotor UAVs. In: 2013 International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, USA (2013)

  11. Etkin, B., Reid, L.: Dynamics of Flight: Stability and Control, 3rd edn. John Wiley and Sons, New York (1996)

    Google Scholar 

  12. Flachsbart, O., Krober, G.: Experimental Investigation of Aircraft Propellers Exposed to Oblique Air Currents. NASA Technical Report (1929)

  13. Fujisaki, Y., Oishi, Y., Tempo, R.: Mixed deterministic/randomized methods for fixed order controller design. IEEE Trans. Autom. Control 53, 2033–2047 (2008)

    Article  MathSciNet  Google Scholar 

  14. Hovakimyan, N., Cao, C.: \(\mathcal{L}_1\) Adaptive Control Theory. Society for Industrial and Applied Mathematics, Philadelphia (2010)

    MATH  Google Scholar 

  15. Kim, K.K.K., Hovakimyan, N.: Development of verification and validation approaches for \(\mathcal{L}_1\) adaptive control: multi-criteria optimization for filter design. In: Proceedings of the AIAA Guidance, Navigation and Control Conference, Toronto, Canada (2010)

  16. Kim, K.K.K., Kharisov, E., Hovakimyan, N.: Filter design for \(\mathcal{L}_1\) adaptive outputfeedback controller. In: Proceedings of 50th Conference on Decision and Control, Orlando, USA (2011)

  17. Li, D., Hovakimyan, N., Cao, C., Wise, K.: Filter design for feedback-loop trade-off of \(\mathcal{L}_1\) adaptive controller. In: Proceedings of the AIAA Guidance, Navigation and Control Conference, Honolulu, USA (2008)

  18. Michini, B., How, J.P.: \(\mathcal{L}_1\) adaptive control for indoor autonomous vehicles: design process and flight testing. In: Proceedings of the AIAA Guidance, Navigation and Control Conference, Chicago, USA (2009)

  19. Mirkin, B., Gutman, P.O., Sjoberg, J.: Output-feedback MRAC with reference model tolerance of nonlinearly perturbed delayed plants. In: Proceedings of the 18th World Congress The International Federation of Automatic Control, Milano, Italy (2011)

  20. McKerrow, P.: Modelling the Draganflyer four-fotor helicopter. In: IEEE International Conference on Robotics and Automation, New Orleans, USA (2004)

  21. Monopoli, R.: Model reference adaptive control with an augmented error signal. IEEE Trans. Autom. Control. 19, 474–484 (1974)

    Article  MATH  Google Scholar 

  22. Orsag, M., Bogdan, S.: Hybrid control of quadrotor. In: Proceedings of 17th Mediterranean Conference on Control and Automation, Thessaloniki, Greece (2009)

  23. Padfield, G.: Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modelling. AIAA Blackwell Publishing, Oxford (2007)

    Book  Google Scholar 

  24. Pounds, P., Mahony, R. Hynes, P., Roberts, J.: Design of a four-rotor aerial robot. In: Proceedings of Australian Conference on Robotics and Automation, Auckland, NZ (2002)

  25. Prouty, R.: Helicopter Performance, Stability and Control. Weber and Schmidt, Boston (1986)

    Google Scholar 

  26. Sastry, S., Bodson, M.: Adaptive Control. Stability, Convergence and Robustness. Prentic Hall, Philadelphia (1989)

    MATH  Google Scholar 

  27. Tempo, R., Calafiore, G., Dabbene, F.: Randomized Algorithms for Analysis and Control of Uncertain Systems with Applications. Springer-Verlag, London (2013)

    Book  MATH  Google Scholar 

  28. Wise, K., Lavretsky, E., Zimmerman, J., Dixon, D., Whitehead, B.: Adaptive Flight Control of a Sensor Guided Munition. AIAA Guidance, Navigation and Control Conference, San Francisco, USA (2005)

  29. Wise, K., Lavretsky, E., Hovakimyan, N.: Adaptive Control of Flight: Theory, Applications and Open Problems. American Control Conference, Minneapolis, USA (2006)

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy

    Elisa Capello & Fulvia Quagliotti

  2. CNR–IEIIT, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129, Torino, Italy

    Roberto Tempo

Authors
  1. Elisa Capello
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Fulvia Quagliotti
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Roberto Tempo
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Elisa Capello.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Capello, E., Quagliotti, F. & Tempo, R. Randomized Approaches for Control of QuadRotor UAVs. J Intell Robot Syst 73, 157–173 (2014). https://doi.org/10.1007/s10846-013-9966-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-013-9966-8

Keywords