Title: MRAC base robust RST control scheme for the application of UAV

Authors: Zain Anwar Ali; Dao Bo Wang; Muhammad Aamir; Suhaib Masroor

Addresses: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China ' College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China ' Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan ' School of Mechatronic and Automation Engineering, Shanghai University, Shanghai, China

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.

Keywords: model reference adaptive control; MRAC; hybrid controller; MIT rule; unmanned aerial vehicle; UAV.

DOI: 10.1504/IJMIC.2017.086571

International Journal of Modelling, Identification and Control, 2017 Vol.28 No.3, pp.232 - 244

Received: 10 Sep 2016
Accepted: 03 Nov 2016
Published online: 12 Sep 2017 *

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