Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
Abstract: This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection controller is required to prevent performance degradation in the presence of parametric uncertainty and external disturbance. Furthermore, rotor saturation should be properly addressed in a controller to avoid performance degradation or even instability due to a gap between the commanded input and the actual input during saturation. To address these issues, we present a modified saturated RISE (Robust Integral of the Sign of the Error) control method. The proposed modified saturated RISE controller is developed for expansion to a system with a non-diagonal, state-dependent input matrix. Next, we present reformulation of the system dynamics of a fully actuated multirotor, and apply the control law to the system. The proposed method is validated in simulation where the proposed controller outperforms the existing one thanks to the capability of handling the input matrix.
- D. Lee, H. Seo, I. Jang, S. J. Lee, and H. J. Kim, “Aerial manipulator pushing a movable structure using a dob-based robust controller,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 723–730, 2021.
- G. Flores, A. M. de Oca, and A. Flores, “Robust nonlinear control for the fully actuated hexa-rotor: Theory and experiments,” IEEE Control Systems Letters, vol. 7, pp. 277–282, 2023.
- J. A. Ricardo Jr and D. A. Santos, “Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles,” ISA transactions, vol. 129, pp. 169–178, 2022.
- J. Chebbi and Y. Briere, “Robust active disturbance rejection control for systems with internal uncertainties: Multirotor uav application,” Journal of Field Robotics, vol. 39, no. 4, pp. 426–456, 2022.
- D. Lee, J. Byun, and H. J. Kim, “Rise-based trajectory tracking control of an aerial manipulator under uncertainty,” IEEE Control Systems Letters, vol. 6, pp. 3379–3384, 2022.
- M. Faessler, D. Falanga, and D. Scaramuzza, “Thrust mixing, saturation, and body-rate control for accurate aggressive quadrotor flight,” IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 476–482, 2017.
- A. Franchi, R. Carli, D. Bicego, and M. Ryll, “Full-pose tracking control for aerial robotic systems with laterally bounded input force,” IEEE Transactions on Robotics, vol. 34, no. 2, pp. 534–541, 2018.
- X. Shao, G. Sun, W. Yao, J. Liu, and L. Wu, “Adaptive sliding mode control for quadrotor uavs with input saturation,” IEEE/ASME Transactions on Mechatronics, vol. 27, no. 3, pp. 1498–1509, 2022.
- W. Xie, W. Zhang, and C. Silvestre, “Saturated backstepping-based tracking control of a quadrotor with uncertain vehicle parameters and external disturbances,” IEEE Control Systems Letters, vol. 6, pp. 1634–1639, 2022.
- J. Wehbeh and I. Sharf, “An mpc formulation on so(3)𝑠𝑜3so(3)italic_s italic_o ( 3 ) for a quadrotor with bidirectional thrust and nonlinear thrust constraints,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4945–4952, 2022.
- P. Ghignoni, N. Buratti, D. Invernizzi, and M. Lovera, “Anti-windup design for directionality compensation with application to quadrotor uavs,” IEEE Control Systems Letters, vol. 5, no. 1, pp. 331–336, 2021.
- B. Convens, K. Merckaert, M. M. Nicotra, R. Naldi, and E. Garone, “Control of fully actuated unmanned aerial vehicles with actuator saturation,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 12 715–12 720, 2017.
- N. Fischer, Z. Kan, R. Kamalapurkar, and W. E. Dixon, “Saturated rise feedback control for a class of second-order nonlinear systems,” IEEE Transactions on Automatic Control, vol. 59, no. 4, pp. 1094–1099, 2014.
- N. Fischer, Z. Kan, and W. E. Dixon, “Saturated rise feedback control for euler-lagrange systems,” in 2012 American Control Conference (ACC). IEEE, 2012, pp. 244–249.
- N. Fischer, R. Kamalapurkar, and W. E. Dixon, “Lasalle-yoshizawa corollaries for nonsmooth systems,” IEEE Transactions on Automatic Control, vol. 58, no. 9, pp. 2333–2338, 2013.
Paper Prompts
Sign up for free to create and run prompts on this paper using GPT-5.
Top Community Prompts
Collections
Sign up for free to add this paper to one or more collections.