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Related Experiment Video

Updated: Jun 25, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Quadrotors' double-loop controller design with tensor product model transformation and partial fully actuated method.

Fei Chang¹, Jia Pei Kang², Sha Ri Na Huang³

¹College of Electronic Information Engineering, Inner Mongolia University, Hohhot 010021, People's Republic of China; Inner Mongolia Power Group Mengdian Information and Telecommunication Co., Ltd., Inner Mongolia, Hohhot, 010020, People's Republic of China.

ISA Transactions

|May 26, 2024

Summary

This study introduces a novel double-loop fuzzy controller for quadrotor control systems, overcoming limitations of direct tensor product (TP) model transformation. The new approach enhances control stability and feasibility for aerial robots.

Keywords:

Double loop control Fully actuated control Hyper-grid sampling TP model transformation Uniform design (UD) sampling

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Area of Science:

Robotics
Control Systems Engineering
Fuzzy Logic

Background:

Existing tensor product (TP) model transformation methods face challenges in quadrotor control due to computational complexity and linear matrix inequality (LMI) issues.
Direct application of TP model transformation to quadrotor control systems is often infeasible.

Purpose of the Study:

To develop a more feasible and effective control strategy for quadrotor systems using TP model transformation.
To address the limitations of existing TP model transformation control methods for quadrotors.

Main Methods:

A partial TP model transformation-based double-loop fuzzy controller is proposed.
The control scheme integrates a fully actuated control method for the position subsystem and a TP model transformation-based fuzzy controller for attitude control.
A varying-input TP model transformation method is extended for comparative analysis.

Main Results:

The proposed double-loop hybrid control scheme demonstrates improved feasibility compared to direct TP model transformation.
The controller effectively manages both position and attitude control subsystems.
The varying-input method is extended and evaluated.

Conclusions:

The partial TP model transformation-based double-loop fuzzy controller offers a viable solution for quadrotor control.
The hybrid approach enhances the applicability of TP model transformation in complex robotic systems.
The study validates the proposed algorithms on various drone platforms.