Control of a quadrotor with network induced time delay

Area of Science:

• Robotics
• Control Systems Engineering
• Networked Systems

Background:

• Quadrotor control is challenging due to network-induced delays.
• State and input time delays degrade system performance and stability.
• Existing control methods struggle with unpredictable network conditions.

Purpose of the Study:

• To develop a robust control strategy for quadrotors operating over networks with time delays.
• To enhance the stability and tracking accuracy of quadrotor systems under network disturbances.
• To address the limitations of conventional controllers in delayed network environments.

Main Methods:

• A backstepping controller is augmented with a state predictor.
• The state predictor estimates future states using delayed measurements.
• Lyapunov-Razumikhin theorem is employed to prove predictor error dynamics stability.

Main Results:

• The state predictor successfully estimates future quadrotor states.
• The combined controller and predictor system achieves asymptotic stability for tracking errors.
• Simulations validate the effectiveness of the proposed control method.

Conclusions:

• The proposed backstepping controller with a state predictor offers a stable solution for networked quadrotors with time delays.
• This method significantly improves tracking performance in the presence of network-induced uncertainties.
• The approach provides a reliable framework for controlling quadrotors in complex network environments.