Abstract
In this paper, a novel Model Reference Adaptive Control (MRAC)-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV). The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID) and Fuzzy Proportional Derivative (F-PD) controllers. MRAC is used as the main controller for the dynamics, while the parameters of the adaptive controller are fine-tuned by the F-PD controller for the altitude control subsystem and the F-PID controller for the attitude control subsystem of the UAV. The stability of the system is ensured and proven by Lyapunov stability analysis. The proposed control algorithm is tested and verified using computer simulations for the trajectory tracking of the desired path as an input. The effectiveness of our proposed algorithm is compared with F-PID and the Fuzzy Logic Controller (FLC). Our proposed controller exhibits much less steady state error, quick error convergence in the presence of disturbance or noise, and model uncertainties.
Highlights
Research in the area of control engineering is focused on the field of unmanned flight body aircraft, such as helicopters, hex-rotor, quad-rotor, and tri-rotor robots, due to their variety of applications, especially in the area of defense [1,2,3,4]
This paper provides a trajectory tracking control algorithm for the tri-rotor aerial vehicle by taking advantage of vertical takeoff and landing (VTOL)
To design a control algorithm for the nonlinear characteristics of a tri-rotor, this paper presents the conditions for fuzzy algorithms with an existing Proportional Derivative (PD) controller
Summary
Research in the area of control engineering is focused on the field of unmanned flight body aircraft, such as helicopters, hex-rotor, quad-rotor, and tri-rotor robots, due to their variety of applications, especially in the area of defense [1,2,3,4]. This paper provides a trajectory tracking control algorithm for the tri-rotor aerial vehicle by taking advantage of vertical takeoff and landing (VTOL). Use a fuzzy-based PID controller to control the attitude and altitude of a quad-rotor UAV. Regulation, Pole-Placement, and Tracking (RST) base dual controller scheme were proposed for controlling the stabilization of a tri-rotor UAV [30]. A fuzzy-based hybrid control algorithm was designed for the stabilization of tri-rotor UAVs [31].
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