Abstract
An adaptive nonlinear robust controller for a novel highly maneuverabledual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinea r and not originally in the control -affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control -affine form. It is assumed that the syste m is subject to unknown disturbances. Therefore, a control law enabling the UAV to accomplish tracking missions, alongside an adaptive law estimating unknown disturbances are derived. Unlike previous nonlinearrobustmethods applied to this UAV, the asymptotic stability of the controller in the presence of unknown disturbance is analytically demonstrated. This controller enables the UAV to follow any desired translational and rotational trajectory and also accounts for a range of unknown disturbances. Final ly, a computerized simulation is conducted to verify the analytical results.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
