Name ‫بنان عبد القوي‬: Contents Problems solution Same sides

flight control 1 Introduction Application to lateral Model predictive The definitions of

flight control design of a control (MPC) stability are said to be
Fault Tolerant Recent years have seen highly flexible global if these hold for
Flight Control a considerable growth Model Predictive
all initial states. From
Techniques with in the aircraft. Problem Control (MPC) is a
the definitions, it can
description promising tool for
Application to a development of flight be seen that the
fault tolerant control
Quadrotor UAV control systems for The nonsmooth method stronger notion of
applications
Testbed. unmanned air outlined above is used in stability is the
(Maciejowski & Jones,
this section exponential stability.
vehicles (UAVs). One of 2003) due to its
However, a true
the key components of to design a flight prominent capabilities
introductions rigorous criterion of
a flight controller for the lateral such as constraint
the stability is the
Unmanned Aerial motion of a large carrier handling, flexibility to
control system (often finite time conver-
Vehicles (UAVs) changes in the process
grossly simplified) is aircraft in which flexibility dynamics and gence, which
are gaining more has been intentionally demands the solution
the guidance applicability to
and more degraded to a to reach the origin in
attention during system, which should nonlinear dynamics.
finite time. There exist
the last few guarantee that the highly critical level in Since MPC recalculates
very few studies on
airplane is able to order to build a difficult the control signal at
quadrotor control
years due to their control problem and each sampling time,
which guarantee finite
important safely and efficiently any change in the
to test the efficiency of time convergence of
contributions and accomplish its mission; process dynamics can
various modern the errors.
cost-effective a good be reflected simply
applications in techniques. It is a realistic into the control signal
design should also be
several tasks calculation. Also, the
able to improve the challenging problem
which has been initially constraint handling
such as autonomy and
presented .... capability of MPC
surveillance,
the performance of the allows system working
search and rescue
aircraft . The design specifications close to the
missions,
for this application are boundaries of the tight
geographic 2 Abstract particularly post-failure operation
studies, as well as
As an example of UAV envelope. The
various tight. Besides good-
systems, the quadrotor drawback of MPC is
handling qualities in time
military and helicopter is relatively a that similarly to most
domain, the flight
security simple, affordable of the control
applications. Due controller must also techniques, it needs
to the and easy to fly system achieve improved an almost explicit
requirements of and thus it has been comfort during model of the system
autonomous flight widely used to develop, turbulence to calculate a
under implement and test-fly stabilizing control
despite the presence of
methods in control, signal. On the other
different flight lightly-damped flexible
fault diagnosis, fault hand, the abrupt
conditions without modes. An additional
a pilot onboard, tolerant control as well difficulty here is that the changes in the model
control of UAV as multi-agent based location of the flexible parameters, due to
flight is much modes in failure, cannot be
technologies in
more predicted beforehand
formation flight, the complex plane
and an online data-
challenging cooperative control, changes with the
driven parameter
compared with distributed control, distribution of the mass
estimation
manned aerial mobile wireless inside the plane, as one
methodology is
vehicles since all can notice by comparing
networks and required to extract the
operations have to both loci depicted
communications . post-failure model
be carried
. Consequently, the parameters from
out by the closed-loop system must online input/output
automated flight 3 Objective also be robust data. In other words,
control, navigation an FDD module is
Feedback linearization with respect to changes required to provide
and guidance
control in the load condition . information about the
algorithms
embedded on the occurring faults to
This control
allow MPC to consider
methodology
faults.
transforms the
nonlinear dynamics of
quadrotor into linear
equivalent dynamics
via feedback

rather than linearizing

via small angle
approximation.
Numerous

researchers have used

this control technique
to design quadrotor

flight controller [26–

34]. Since quadrotor
dynamics are
nonlinear,

therefore, this
approach is suitable to
eliminate the
nonlinearities

and then linear control

theory can be used to
design a flight
 controller. Feedback
linearization
incorporates a
transformation of

variables and selection

of appropriate input
that cancels the
nonlinearity of the
system. Nonlinear
systems which can be
represented

by the following form

can be linearized:

¼ p xð Þþ q xð Þu

(11)

y ¼ r xð Þ

Name ‫بنان عبد القوي‬: Contents Problems solution Same sides

 Non linear 1 Introduction Parametric uncertainties NONLINEAR CONTROL The definitions of
and coupled nonlinear TECHNIQUES stability are said to be
Recent years have seen dynamics are inherent in global if these hold for
a considerable growth quad rotor configuration Quadrotor dynamics
NONLINEAR AND all initial states. From
in the are underactuated,
ADAPTIVE and infer adaptive the definitions, it can
nonlinear and
INTELLIGENT development of flight nonlinear ap- proaches be seen that the
strongly coupled. The
CONTROL control systems for to be used for flight stronger notion of
six degrees of
TECHNIQUES unmanned air control system. stability is the
freedom (6-DOF) are
Numerous adaptive exponential stability.
FOR QUADROTOR vehicles (UAVs). One of nonlinear and intelligent to be controlled only
However, a true
UAV – A SURVEY the key components of control techniques, with four available
rigorous criterion of
a flight input terms, which
which have been the stability is the
essentially put
control system (often reported in the finite time conver-
constraints on control
grossly simplified) is literature for designing gence, which demands
paradigm. The
the guidance quadrotor flight the solution to reach
associated
controller by various the origin in finite
system, which should uncertainties and
researchers, are time. There exist very
guarantee that the nonlinear dynamics
investigated in this few studies on
airplane is able to call for nonlinear
paper. As a priori, each quadrotor control
control approaches.
conventional nonlinear which guarantee finite
safely and efficiently During the recent
control technique is time convergence of
accomplish its mission; decade, nonlinear
discussed broadly and the errors.
a good underactuated nature
then its
of quadrotor UAV has
design should also be adaptive/observer based
drawn a significant
able to improve the augmentation is
attention of
autonomy and conferred along with all
researchers to devise
possible var- iants.
the performance of the nonlinear flight
Among conventional
aircraft . controllers to achieve
nonlinear control
acrobatic maneuvers
2Abstract approaches, feedback
and autonomous
linearization,
NONLINEAR CONTROL backstepping, sliding control. Until
TECHNIQUES recently, it remained
mode, and model
a challenging task to
Quadrotor dynamics predictive control, are
cover larger flight
are underactuated, studied. Intelligent
envelope along with
nonlinear and control approaches
optimum control .
incorporating fuzzy logic
strongly coupled. The and neural networks are
six degrees of freedom also discussed. In
(6-DOF) are to be addition to adaption
controlled only with based parametric
four available input uncertainty handling,
terms, which various other aspects of
essentially each control technique
put constraints on regarding stability,
control paradigm. The disturbance rejection,
associated response time,
uncertainties asymptotic, exponential
and finite time
and nonlinear
convergence etc., are
dynamics call for
discussed in sufficient
nonlinear control
depth. The contribution
approaches.
of this paper is the
During the recent provision of detailed and
decade, nonlinear in depth discussion on
underactuated nature quadrotor nonlinear
of control approaches to
the flight control
quadrotor UAV has designers.
drawn a significant
attention of
researchers to

devise nonlinear flight

controllers to achieve
acrobatic maneuvers

and autonomous
control. Until recently,
it remained a
challenging

task to cover larger

flight envelope along
with optimum control

parameters and global

stability. Stability is
strongly adhered to
the

coupling nature of
quadrotor dynamics,
hence evaluation of

global stability of
trajectory tracking
problem is challenging

[25]. Most of the

literature has
presented Lyapunov-
based stability

analysis for quadrotor

control system, which
in fact is a worthy

way to design a stable

controller. However,
the guarantee of

Lyapunov stability is
not much rigorous as it
does not essentially

convey how the states

will converge
ultimately.

3Objective
Feedback linearization
control

This control
methodology
transforms the
nonlinear dynamics of
quadrotor into linear
equivalent dynamics
via feedback

rather than linearizing

via small angle
approximation.
Numerous

researchers have used

this control technique
to design quadrotor

flight controller [26–

34]. Since quadrotor
dynamics are
nonlinear,

therefore, this
approach is suitable to
eliminate the
nonlinearities

and then linear control

theory can be used to
design a flight
controller. Feedback
linearization
incorporates a
transformation of

variables and selection

of appropriate input
that cancels the
nonlinearity of the
system. Nonlinear
systems which can be
represented

by the following form

can be linearized:

¼ p xð Þþ q xð Þu

(11)

y ¼ r xð Þ