A Simple Learning Strategy for Feedback Linearization Control of Aerial Package Delivery Robot

TY - GEN

T1 - A Simple Learning Strategy for Feedback Linearization Control of Aerial Package Delivery Robot

AU - Mehndiratta, Mohit

AU - Kayacan, Erkan

AU - Kayacan, Erdal

PY - 2018/10/26

Y1 - 2018/10/26

N2 - This paper develops a simple learning (SL) strategy for feedback linearization control (FLC) algorithm for uncertain nonlinear systems. The SL strategy that uses desired closed-loop error dynamics updates the controller coefficients and the disturbance term in the feedback control law, while traditional feedforward control law is designed based on the nominal model by using FLC method. In this strategy, the desired closed-loop error function is minimized by using the gradient-descent method to find the adaptation rules for feedback controller gains and estimated disturbance. In addition, the system stability for an nth order uncertain nonlinear system is proven by using a Lyapunov function candidate. To test the efficiency and efficacy of the SL-FLC framework, the package delivery problem of a tilt-rotor tricopter unmanned aerial vehicle is studied in real-time. The experimental results show that the SL-FLC framework results in a better path tracking performance than the traditional FLC method, while maintaining the nominal control performance in the absence of uncertainties and exhibiting robust control performance in the presence of uncertainties.

AB - This paper develops a simple learning (SL) strategy for feedback linearization control (FLC) algorithm for uncertain nonlinear systems. The SL strategy that uses desired closed-loop error dynamics updates the controller coefficients and the disturbance term in the feedback control law, while traditional feedforward control law is designed based on the nominal model by using FLC method. In this strategy, the desired closed-loop error function is minimized by using the gradient-descent method to find the adaptation rules for feedback controller gains and estimated disturbance. In addition, the system stability for an nth order uncertain nonlinear system is proven by using a Lyapunov function candidate. To test the efficiency and efficacy of the SL-FLC framework, the package delivery problem of a tilt-rotor tricopter unmanned aerial vehicle is studied in real-time. The experimental results show that the SL-FLC framework results in a better path tracking performance than the traditional FLC method, while maintaining the nominal control performance in the absence of uncertainties and exhibiting robust control performance in the presence of uncertainties.

UR - http://www.scopus.com/inward/record.url?scp=85056806512&partnerID=8YFLogxK

U2 - 10.1109/CCTA.2018.8511485

DO - 10.1109/CCTA.2018.8511485

M3 - Article in proceedings

SN - 978-1-5386-7699-8

SP - 361

EP - 367

BT - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018

PB - IEEE

T2 - 2018 IEEE Conference on Control Technology and Applications

Y2 - 21 August 2018 through 24 August 2018

ER -