ICUAS 2021 Paper Abstract

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Paper ThC1.3

Singh, Padmini (Indian Institute of Technology Kanpur), Gupta, Sandeep (Indian Institute of Technology Kanpur), Behera, Laxmidhar (Indian Institute of Technology Kanpur), Verma, Nishchal Kumar (Indian Institute of Technology Kanpur)

Sum of Square Based Event-Triggered Control of Nano-Quadrotor in Presence of Packet Dropouts

Scheduled for presentation during the Regular Session "Micro and Mini UAS" (ThC1), Thursday, June 17, 2021, 17:40−18:00, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Micro- and Mini- UAS, Manned/Unmanned Aviation, Energy Efficient UAS

Abstract

This paper presents perching of quadrotor on vertical wall using the sum of square (SOS) method based event-triggered second order relay free control. In perching, task quadrotor moves from 3-dimensional cartesian space to 2-dimensional cartesian space. The quadrotor is an underactuated multi-input multi-output device, where four control inputs control twelve states. Here a second-order homogenous relay free controller is designed for trajectory tracking, which is easy to develop and also exhibits the property of fast convergence. Next, to mitigate the disturbance of the system, a second-order homogenous super twisting based disturbance observer is clubbed with the relay free controller. The stability of the proposed controller and disturbance observer is derived using Polya’s method. Furthermore, for reducing the controller’s effort and the disturbance observer effort, SOStools are used for finding the threshold on event-triggering error. Using event-triggering conditions allowable number of packet-dropouts from controller to plant side are also derived. Simulation Results shows that the proposed controller performs better than the existing fast non- singular terminal sliding mode control (FNTSMC). Experiments are conducted on rough vertical wall to validate the proposed theory.

 

 

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