Τίτλος:
Switching Wireless Control for Longitudinal Quadrotor Maneuvers
Γλώσσες Τεκμηρίου:
Αγγλικά
Περίληψη:
To improve the maneuverability of remotely guided quadrotors in longitudinal motion, the design goal of independent control of the horizontal and the vertical velocity, is satisfied. For the sake of the communication delays, a synchronization / signal reconstruction algorithm, imposing constant delays, is applied and the design goal is satisfied by introducing a stepwise safe switching procedure for time delay dynamic controllers. The proposed controllers are designed to satisfy I/O decoupling, stability and atmospheric disturbance attenuation. The controllers are determined via a mixed analytic and metaheuristic design procedure. To increase the range of the external commands, the stepwise safe switching algorithm is based on the approximate minimization of a composite criterion including the infinity norm and the H2 norm of the variations around trim points under hard constraints for the steady state performance and the overshoot of the performance variables. The satisfactory performance of the proposed control scheme is illustrated through simulations for a climbing maneuver passing through different target operating areas. © 2021, The Author(s), under exclusive licence to Springer Nature B.V.
Συγγραφείς:
Giannaris, G.L.
Kouvakas, N.D.
Koumboulis, F.N.
Vouyioukas, D.
Περιοδικό:
Journal of Intelligent and Robotic Systems: Theory and Applications
Εκδότης:
Springer Science and Business Media B.V.
Λέξεις-κλειδιά:
Agricultural robots; Delay control systems; Drones; Longitudinal control, Atmospheric disturbance; Communication delays; Independent control; Performance variables; Reconstruction algorithms; Steady state performance; Switching algorithms; Switching procedures, Controllers
DOI:
10.1007/s10846-021-01405-2
