Final published version
Licence: CC BY: Creative Commons Attribution 4.0 International License
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 Control of Unmanned Aerial Vehicles with Varying Payload and Full Parametric Uncertainties
AU - Imran, Imil Hamda
AU - Wood, Kieran
AU - Montazeri, Allahyar
PY - 2024/1/14
Y1 - 2024/1/14
N2 - This article investigates an adaptive tracking control problem for a six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV) with a variable payload mass. The changing payload introduces time-varying parametric uncertainties into the dynamical model, rendering a static control strategy no longer effective. To handle this issue, two adaptive schemes are developed to maintain the uncertainties in the translational and rotational dynamics. Initially, a virtual proportional derivative (PD) is designed to stabilize the horizontal position; however, due to an unknown and time-varying mass, an adaptive controller is proposed to generate the total thrust of the UAV. Furthermore, an adaptive controller is designed for the rotational dynamics, to handle parametric uncertainties, such as inertia and external disturbance parameters. In both schemes, a standard adaptive scheme using the certainty equivalence principle is extended and designed. A stability analysis was conducted with rigorous analytical proofs to show the performance of our proposed controllers, and simulations were implemented to assess the performance against other existing methods. Tracking fitness and total control efforts were calculated and compared with closed-loop adaptive tracking control (CLATC) and adaptive sliding mode control (ASMC). The results indicated that the proposed design better maintained UAV stability.
AB - This article investigates an adaptive tracking control problem for a six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV) with a variable payload mass. The changing payload introduces time-varying parametric uncertainties into the dynamical model, rendering a static control strategy no longer effective. To handle this issue, two adaptive schemes are developed to maintain the uncertainties in the translational and rotational dynamics. Initially, a virtual proportional derivative (PD) is designed to stabilize the horizontal position; however, due to an unknown and time-varying mass, an adaptive controller is proposed to generate the total thrust of the UAV. Furthermore, an adaptive controller is designed for the rotational dynamics, to handle parametric uncertainties, such as inertia and external disturbance parameters. In both schemes, a standard adaptive scheme using the certainty equivalence principle is extended and designed. A stability analysis was conducted with rigorous analytical proofs to show the performance of our proposed controllers, and simulations were implemented to assess the performance against other existing methods. Tracking fitness and total control efforts were calculated and compared with closed-loop adaptive tracking control (CLATC) and adaptive sliding mode control (ASMC). The results indicated that the proposed design better maintained UAV stability.
KW - Electrical and Electronic Engineering
KW - Computer Networks and Communications
KW - Hardware and Architecture
KW - Signal Processing
KW - Control and Systems Engineering
U2 - 10.3390/electronics13020347
DO - 10.3390/electronics13020347
M3 - Journal article
VL - 13
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
SN - 2079-9292
IS - 2
M1 - 347
ER -