Abstract
This work proposes three robust mechanisms based on the MIT rule and the sliding-mode techniques. These robust mechanisms have to tune the gains of an adaptive Proportional-Derivative controller to steer a quadrotor in a predefined trajectory. The adaptive structure is a model reference adaptive control (MRAC). The robust mechanisms proposed to achieve the control objective (trajectory tracking) are MIT rule, MIT rule with sliding mode (MIT-SM), MIT rule with twisting (MIT-Twisting), and MIT rule with high order sliding mode (MIT-HOSM).
Highlights
IntroductionUnmanned aerial vehicles (UAVs) have a lot of acceptance in the control theory research due to the challenge of getting a stable flight and finding some application to solve some science and engineering problems
Trajectory Tracking with AdaptiveUnmanned aerial vehicles (UAVs) have a lot of acceptance in the control theory research due to the challenge of getting a stable flight and finding some application to solve some science and engineering problems
The problem of trajectory tracking with a quadrotor after several simulations is that the PD adaptive controller with the adjustment mechanism based on the MIT rule methodology, and the model reference adaptive control for MRAC, is not enough to resolve the problem due to the oscillations at the beginning of the desired trajectory
Summary
Unmanned aerial vehicles (UAVs) have a lot of acceptance in the control theory research due to the challenge of getting a stable flight and finding some application to solve some science and engineering problems. Even in [17], a robust adaptive neural network controller is proposed, and is applied to a quadrotor UAV This control law is not necessary for the prior information of disturbances to stabilize the quadrotor. We proposed resolving this problem with a robust mechanism for an adaptive control law to steer a quadrotor UAV in a predefined trajectory by equations to obtain an adequate trajectory and avoid some physics singularity of the system in the position and the quadrotor attitude. This work is organized as follows: Section 2 shows the equations that define the dynamical model of the quadrotor; Section 3 presents the equation to obtain the desired trajectory and Section 4 presents the adaptive controller and robust mechanisms design. In the Appendix A the stability proof of the adaptive PD controller is presented
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