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Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters

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Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters. / Imran, Imil; Stolkin, Rustam; Montazeri, Allahyar.
In: IFAC-PapersOnLine, Vol. 54, No. 7, 15.09.2021, p. 785-790.

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Imran I, Stolkin R, Montazeri A. Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters. IFAC-PapersOnLine. 2021 Sept 15;54(7):785-790. doi: 10.1016/j.ifacol.2021.08.457

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@article{1238033d879e4cedb4d77d3ab3230948,
title = "Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters",
abstract = "In this paper, the problem of adaptive closed-loop parameter estimation and tracking control of a six degree of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV)is studied. To manage the complexity of the problem, the system dynamic is decomposed into two subsystems,i.e. translational dynamics and rotational dynamics. A nested control architecture is adopted to develop both adaptive tracking control and parameter estimation. To stablise the outer loop a virtual control input is proposed using a proportional–derivative (PD) controller to track the x, y and z position. The rotational dynamics of UAV contains unknown inertia parameters appearing in the control structure as well as in a nonlinear dynamic term. An adaptive tracking scheme is designed using the certainty equivalence principle to handle both parameter estimation and tracking control in closed-loop. The idea behind the controller design is to cancel the nonlinear term in the inner loop by estimating the unknown system parameters.The stability of the whole closed loop system is proved with a rigorous analytical study. Moreover, the performance of the proposed controller is verified with several numerical analyses.",
keywords = "Grey box identification, 6-DOF quadrotor, certainty equivalence principle, adaptive tracking control, closed-loop identification, unknown inertia parameters",
author = "Imil Imran and Rustam Stolkin and Allahyar Montazeri",
year = "2021",
month = sep,
day = "15",
doi = "10.1016/j.ifacol.2021.08.457",
language = "English",
volume = "54",
pages = "785--790",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "7",
note = "19th IFAC Symposium on System Identification, SYSID2021 ; Conference date: 14-07-2021 Through 16-07-2021",
url = "https://www.sysid2021.org/",

}

RIS

TY - JOUR

T1 - Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters

AU - Imran, Imil

AU - Stolkin, Rustam

AU - Montazeri, Allahyar

PY - 2021/9/15

Y1 - 2021/9/15

N2 - In this paper, the problem of adaptive closed-loop parameter estimation and tracking control of a six degree of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV)is studied. To manage the complexity of the problem, the system dynamic is decomposed into two subsystems,i.e. translational dynamics and rotational dynamics. A nested control architecture is adopted to develop both adaptive tracking control and parameter estimation. To stablise the outer loop a virtual control input is proposed using a proportional–derivative (PD) controller to track the x, y and z position. The rotational dynamics of UAV contains unknown inertia parameters appearing in the control structure as well as in a nonlinear dynamic term. An adaptive tracking scheme is designed using the certainty equivalence principle to handle both parameter estimation and tracking control in closed-loop. The idea behind the controller design is to cancel the nonlinear term in the inner loop by estimating the unknown system parameters.The stability of the whole closed loop system is proved with a rigorous analytical study. Moreover, the performance of the proposed controller is verified with several numerical analyses.

AB - In this paper, the problem of adaptive closed-loop parameter estimation and tracking control of a six degree of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV)is studied. To manage the complexity of the problem, the system dynamic is decomposed into two subsystems,i.e. translational dynamics and rotational dynamics. A nested control architecture is adopted to develop both adaptive tracking control and parameter estimation. To stablise the outer loop a virtual control input is proposed using a proportional–derivative (PD) controller to track the x, y and z position. The rotational dynamics of UAV contains unknown inertia parameters appearing in the control structure as well as in a nonlinear dynamic term. An adaptive tracking scheme is designed using the certainty equivalence principle to handle both parameter estimation and tracking control in closed-loop. The idea behind the controller design is to cancel the nonlinear term in the inner loop by estimating the unknown system parameters.The stability of the whole closed loop system is proved with a rigorous analytical study. Moreover, the performance of the proposed controller is verified with several numerical analyses.

KW - Grey box identification

KW - 6-DOF quadrotor

KW - certainty equivalence principle

KW - adaptive tracking control, closed-loop identification, unknown inertia parameters

U2 - 10.1016/j.ifacol.2021.08.457

DO - 10.1016/j.ifacol.2021.08.457

M3 - Journal article

VL - 54

SP - 785

EP - 790

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 7

T2 - 19th IFAC Symposium on System Identification

Y2 - 14 July 2021 through 16 July 2021

ER -