Adaptive control of a quadrotor with uncertain parameters
229 viewsDOI:
https://doi.org/10.54939/1859-1043.j.mst.92.2023.30-37Keywords:
Aerial Vehicle; Quadrotor; Speed-gradient; Adaptive control; Uncertain parameters.Abstract
This paper presents the results of synthesizing a control law for position tracking and stabilization of an unmanned aerial vehicle (UAV) in the form of a quadrotor, using a speed-gradient method in an adaptive control algorithm that adapts to uncertain changes in parameters. Simulation results in MATLAB/SIMULINK with an assumed quadrotor model demonstrate that using the adaptive controller helps the quadrotor operate stably and track the desired trajectory in cases of uncertain quadrotor parameters.
References
[1]. R. Austin, “Unmanned aircraft systems: UAVS design, development and deployment vol. 54”: John Wiley & Sons, (2011). DOI: https://doi.org/10.1002/9780470664797
[2]. G. Hoffmann, D. G. Rajnarayan, S. L. Waslander, D. Dostal, J. S. Jang, and C. J. Tomlin, “The Stanford testbed of autonomous rotorcraft for multi agent control (STARMAC),” in Digital Avionics Systems Conference, 2004. DASC 04. The 23rd, pp. 12. E. 4-121, (2004).
[3]. J. P. How, B. BEHIHKE, A. Frank, D. Dale, and J. Vian, “Real-time indoor autonomous vehicle test environment,” IEEE control systems, vol. 28, pp. 51-64, (2008). DOI: https://doi.org/10.1109/MCS.2007.914691
[4]. F. Šolc, “Modelling and Control of a Quadrocopter,” Advanced in Military Technology, vol. 1, pp. 29-38, (2007).
[5]. M. Prabha, R. Thottungal, and S. Kaliappan, “Modeling and Simulation of X-Quadcopter Control,” International Journal for Research in Applied Science & Engineering Technology (IJRASET) [online] Available at: http://www. ijraset. com/fileserve. php, (2016).
[6]. A. Das, F. Lewis, and K. Subbarao, “Backstepping approach for controlling a quadrotor using lagrange form dynamics,” Journal of Intelligent and Robotic Systems, vol. 56, pp. 127-151, (2009). DOI: https://doi.org/10.1007/s10846-009-9331-0
[7]. Outeiro P., Carlos B. and Paulo J. “Multiple-model control architecture for a quadrotor with constant unknown mass and inertia.” Mechatronics 73, (2021). DOI: 10.1016/j.mechatronics.2020.102455. DOI: https://doi.org/10.1016/j.mechatronics.2020.102455
[8]. Trong-Toan Tran, Shuzhi Sam Ge & Wei He: “Adaptive Control of a Quadrotor Aerial Vehicle with Input Constraints and Uncertain Parameters”, International Journal of Control, (2017), DOI: 10.1080/00207179.2017.1309572 DOI: https://doi.org/10.1080/00207179.2017.1309572
[9]. Han Q, Liu X, Liu Z, Su H. “Adaptive Control for Quadrotors with Uncertain and Faulty Actuators”. Research Square; (2021). DOI: 10.21203/rs.3.rs-910922/v1 DOI: https://doi.org/10.21203/rs.3.rs-910922/v1
[10]. V T Tran, A M Korikov and D K Tran “Synthesis of an algorithm for automatic control of the quadcopter position using the control force estimation method” Journal of Physics: Conference Series, Volume 2291, The 17th International Conference on Electronic Devices and Control Systems, EDCS, (2021). DOI: https://doi.org/10.1088/1742-6596/2291/1/012017
[11]. Б. Р. Андриевский, А. Л. Фрадков, “Метод скоростного градиента и его приложения”, Автомат. и телемех., № 9, 3–72, (2021). DOI: https://doi.org/10.31857/S0005231021090014
[12]. Б. Р. Андриевский. “Нелинейные комбинированные системы управления движением”. Диссертация доктора технических наук. - Санкт-Петербург. - 232 с, (2004).
