Abstract
This study presents a control design of roll motion for a vertical take-off and landing unmanned air vehicle (VTOL-UAV) design based on the Model Reference Adaptive Control (MRAC) scheme in the hovering flight phase. The adaptive laws are developed for the UAV system under nonparametric uncertainty (gust and wind disturbance). Lyapunov-based stability analysis of the adaptive controlled UAV system under roll motion has been conducted and the adaptive laws have been accordingly developed. The Uniform Ultimate Boundness (UUB) of tracking error has been proven and the stability analysis showed that the incorporation of dead-zone modification in adaptive laws could guarantee the uniform boundness of all signals. The computer simulation has been conducted based on a proposed controller for tracking control of the roll motion. The results show that the drift, which appears in estimated gain behaviors due to the application of gust and wind disturbance, could be stopped by introducing dead-zone modification in adaptive laws, which leads to better robustness characteristics of the adaptive controller.
Highlights
The drifting of estimated gains in using adaptive model reference control of Unmanned Aerial Vehicles (UAVs) is the critical problem to be addressed and solved by the present work and the contribution of the work can be highlighted by these main points: Design of Model Reference Adaptive Controller for tracking control of roll attitude for the Tail-Sitter vertical takeoff and landing (VTOL) aircraft; Development of adaptive laws that guarantee bounded convergence of tracking and estimation error of controlled aircraft based on Lyapunov stability analysis; and Improvement of the robustness characteristics for Model Reference Adaptive Controlled aircraft by modifying the developed adaptive laws using dead-zone modification
It is clear from these figures that all estimated gains are bounded based on proposed modification in adaptive laws
This work presented the design of a robust adaptive model reference controller for Tail-Sitter VTOL aircraft
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. Zhou et al (2019) presented the design of a model predictive controller for a VTOL tail-sitter UAV based on a successive linearization in the hovering flight with vertical takeoff and landing phases. The drifting of estimated gains in using adaptive model reference control of UAVs is the critical problem to be addressed and solved by the present work and the contribution of the work can be highlighted by these main points: Design of Model Reference Adaptive Controller for tracking control of roll attitude for the Tail-Sitter VTOL aircraft; Development of adaptive laws that guarantee bounded convergence of tracking and estimation error of controlled aircraft based on Lyapunov stability analysis; and Improvement of the robustness characteristics for Model Reference Adaptive Controlled aircraft by modifying the developed adaptive laws using dead-zone modification
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