MRAC base robust RST control scheme for the application of UAV
by Zain Anwar Ali; Dao Bo Wang; Muhammad Aamir; Suhaib Masroor
International Journal of Modelling, Identification and Control (IJMIC), Vol. 28, No. 3, 2017

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.

Online publication date: Tue, 12-Sep-2017

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com