Pedram Bagheri, Alejandro Ramirez-Serrano, and Jeff K. Pieper
Adaptive and robust control, modeling and simulation, nonlinearcontrol
An adaptive nonlinear robust controller for a novel highly manoeu- verable dual-ducted unmanned aerial vehicle (UAV) is considered in this paper. The dynamics of the UAV is highly nonlinear and not originally in the control-affine form. At first, the equations governing the dynamics of the UAV are extracted. Then, a change of variables is proposed to transform the dynamic equations into the control-affine form. It is assumed that the system is subject to unknown disturbances. Therefore, a control law enabling the UAV to accomplish tracking missions, alongside an adaptive law, estimating unknown disturbances has been derived. Unlike previ- ous nonlinear robust methods applied to UAVs of this kind, the asymptotic stability of the controller in the presence of an unknown disturbance is analytically demonstrated. The designed controller enables the UAV to follow the desired translational and rotational trajectories. In addition, it accounts for a range of unknown distur- bances. Finally, a computerized simulation is conducted to verify the analytical results.
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