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Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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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 -