Adaptive Control of Unmanned Aerial Vehicles with Varying Payload and Full Parametric Uncertainties

Author:

Imran Imil Hamda1,Wood Kieran2ORCID,Montazeri Allahyar3ORCID

Affiliation:

1. Applied Research Center for Metrology, Standards and Testing, Research Institute, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia

2. School of Engineering, University of Manchester, Manchester M13 9PL, UK

3. Engineering Department, Lancaster University, Bailrigg, Lancaster LA1 4YW, UK

Abstract

This article investigates an adaptive tracking control problem for a six degrees of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV) with a variable payload mass. The changing payload introduces time-varying parametric uncertainties into the dynamical model, rendering a static control strategy no longer effective. To handle this issue, two adaptive schemes are developed to maintain the uncertainties in the translational and rotational dynamics. Initially, a virtual proportional derivative (PD) is designed to stabilize the horizontal position; however, due to an unknown and time-varying mass, an adaptive controller is proposed to generate the total thrust of the UAV. Furthermore, an adaptive controller is designed for the rotational dynamics, to handle parametric uncertainties, such as inertia and external disturbance parameters. In both schemes, a standard adaptive scheme using the certainty equivalence principle is extended and designed. A stability analysis was conducted with rigorous analytical proofs to show the performance of our proposed controllers, and simulations were implemented to assess the performance against other existing methods. Tracking fitness and total control efforts were calculated and compared with closed-loop adaptive tracking control (CLATC) and adaptive sliding mode control (ASMC). The results indicated that the proposed design better maintained UAV stability.

Funder

Engineering and Physical Sciences Research Council

Publisher

MDPI AG

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