Chen Diao

Adaptive tracking control of underactuated quadrotor unmanned aerial vehicles via backstepping

This paper considers about the control problem for an underactuated quadrotor UAV system with model parameter uncertainty. Backstepping based techniques are utilized to design a nonlinear adaptive controller which can compensate for the mass uncertainty of the vehicle. Lyapunov based stability analysis shows that the proposed control design yields asymptotic tracking for the UAVs motion in x, y, z direction and the yaw rotation, while keep the stability of the closed loop dynamics of the quadrotor UAV. Numerical simulation results are provided to show the good tracking performance of proposed control laws.

Output feedback control of hypersonic vehicles based on neural network and high gain observer

In this paper, the output feedback control problem for a genetic hypersonic vehicle is considered under the restriction that only the vehicle’s velocity and altitude are measurable. High gain observers (HGO) are utilized to provide estimation signals for unmeasurable derivatives of the vehicle’s velocity and altitude. Neural network based feedforward function is designed to compensate for model uncertainties. The proposed control design require less knowledge of the hypersonic vehicle’s dynamic model. A comprehensive stability analysis of the closed loop system under the output feedback control is carried to prove that the proposed control law yields semiglobal uniformly ultimately bounded tracking while keeping all the closed loop signals bounded. Numerical simulation results are presented to validate the proposed control design.

An output feedback attitude tracking controller design for quadrotor unmanned aerial vehicles using quaternion

In this paper, a quaternion based nonlinear output feedback tracking controller is developed to address the attitude and altitude tracking problem of a quadrotor unmanned aerial vehicle (UAV) which is subject to structural uncertainties and unknown external disturbances. A set of filters are introduced to provide estimation for the unmeasurable quadrotor UAVs angular and translational velocity signals. The Lyapunov based stability analysis ensures that a semi-global asymptotic tracking result is achieved and all closed loop states remain bounded with a suitable choice of control gains.

Nonlinear output feedback control design of a hypersonic vehicle via high gain observers

In this paper, the output feedback control problem for a genetic hypersonic vehicle is considered under the restriction that only the vehicles velocity and altitude are measurable. High gain observers (HGO) are utilized to provide estimation signals for unmeasurable derivatives of the vehicles velocity and altitude. A comprehensive stability analysis of the closed loop system under the output feedback control is carried to prove that the proposed control law yields semiglobal uniformly ultimately bounded tracking while keep all the closed loop signals bounded. Numerical simulation results are presented to validate the proposed control design.