Name
Abstract | ||
|---|---|---|
A hybrid control scheme is proposed in this paper to achieve the desired (position and altitude) tracking response of an unmanned aerial vehicle (UAV). The tri-rotor-based aircraft is selected to perform the simulations considering that the dynamic model of the UAV is already unstable, under-actuated and nonlinear in behaviour. The designed control scheme is used to produce the rotational velocities of UAV which are consequently handled by the hybrid controller. The hybrid controller consists of model reference adaptive control (MRAC) with regulation, pole-placement and tracking (RST) controller and the entire system stability is dealt with by MIT rules. The presented control scheme is tested via computer-based simulations to follow the desired position and attitude of UAV. The efficiency of the proposed scheme is compared with MRAC-based MIT rule and its validity is further checked with MRAC-based Lyapunov rule. The results show that the presented hybrid controller exhibits robustness, fast error convergence and a zero steady state error in the existence of model uncertainties and disturbances. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1504/IJMIC.2017.086571 | INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL |
Keywords | Field | DocType |
model reference adaptive control, MRAC, hybrid controller, MIT rule, unmanned aerial vehicle, UAV | Convergence (routing),Lyapunov function,Control theory,Nonlinear system,Control theory,Control engineering,Robustness (computer science),Adaptive control,Mathematics,Steady state error | Journal |
Volume | Issue | ISSN |
28 | 3 | 1746-6172 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zain Anwar Ali | 1 | 4 | 4.88 |
| Daobo Wang | 2 | 0 | 1.35 |
| M. Aamir | 3 | 15 | 5.75 |
| Suhaib Masroor | 4 | 3 | 1.81 |