A combined model reference adaptive control law for multirotor UAVs
Abstract Model reference adaptive control (MRAC) offers the potential to adapt in real‐time to changes in the performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily in the implementation and assurance of long‐term system stability. This paper...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-07-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12137 |
| _version_ | 1818162199996137472 |
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| author | Alia Farhana Abdul Ghaffar Thomas Richardson Collin Greatwood |
| author_facet | Alia Farhana Abdul Ghaffar Thomas Richardson Collin Greatwood |
| author_sort | Alia Farhana Abdul Ghaffar |
| collection | DOAJ |
| description | Abstract Model reference adaptive control (MRAC) offers the potential to adapt in real‐time to changes in the performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily in the implementation and assurance of long‐term system stability. This paper presents flight test results for a combined model reference adaptive control (CMRAC) law applied to the height control loop of a multirotor. Key features include the implementation of CMRAC with a baseline controller allowing for in‐flight switching between the two; the use of an augmented state to improve the tracking performance and a CMRAC implementation that provides a shorter transient phase, faster parameter convergence, and closer tracking of the desired reference model response when compared with standard MRAC. With the current exponential growth of interest in unmanned air vehicles, the potential benefits of using CMRAC for control system development are significant, particularly for new vehicles with short development and testing phases and in cases where there are significant configuration changes in flight or prior to rapid deployment. |
| first_indexed | 2024-12-11T16:29:53Z |
| format | Article |
| id | doaj.art-402b76d31f6e40fe8134a7b50ff754e5 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-12-11T16:29:53Z |
| publishDate | 2021-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-402b76d31f6e40fe8134a7b50ff754e52022-12-22T00:58:37ZengWileyIET Control Theory & Applications1751-86441751-86522021-07-0115111474148710.1049/cth2.12137A combined model reference adaptive control law for multirotor UAVsAlia Farhana Abdul Ghaffar0Thomas Richardson1Collin Greatwood2Department of Mechanical Engineering International Islamic University Malaysia Jalan Gombak Selangor MalaysiaFaculty of Aerospace Engineering University of Bristol University Walk Bristol UKFaculty of Aerospace Engineering University of Bristol University Walk Bristol UKAbstract Model reference adaptive control (MRAC) offers the potential to adapt in real‐time to changes in the performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily in the implementation and assurance of long‐term system stability. This paper presents flight test results for a combined model reference adaptive control (CMRAC) law applied to the height control loop of a multirotor. Key features include the implementation of CMRAC with a baseline controller allowing for in‐flight switching between the two; the use of an augmented state to improve the tracking performance and a CMRAC implementation that provides a shorter transient phase, faster parameter convergence, and closer tracking of the desired reference model response when compared with standard MRAC. With the current exponential growth of interest in unmanned air vehicles, the potential benefits of using CMRAC for control system development are significant, particularly for new vehicles with short development and testing phases and in cases where there are significant configuration changes in flight or prior to rapid deployment.https://doi.org/10.1049/cth2.12137Spatial variables controlAerospace controlMobile robotsControl system analysis and synthesis methodsSelf-adjusting control systemsNonlinear control systems |
| spellingShingle | Alia Farhana Abdul Ghaffar Thomas Richardson Collin Greatwood A combined model reference adaptive control law for multirotor UAVs IET Control Theory & Applications Spatial variables control Aerospace control Mobile robots Control system analysis and synthesis methods Self-adjusting control systems Nonlinear control systems |
| title | A combined model reference adaptive control law for multirotor UAVs |
| title_full | A combined model reference adaptive control law for multirotor UAVs |
| title_fullStr | A combined model reference adaptive control law for multirotor UAVs |
| title_full_unstemmed | A combined model reference adaptive control law for multirotor UAVs |
| title_short | A combined model reference adaptive control law for multirotor UAVs |
| title_sort | combined model reference adaptive control law for multirotor uavs |
| topic | Spatial variables control Aerospace control Mobile robots Control system analysis and synthesis methods Self-adjusting control systems Nonlinear control systems |
| url | https://doi.org/10.1049/cth2.12137 |
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