Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm
AbstractIn 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. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Ali, Z.A.; Wang, D.; Aamir, M.; Masroor, S. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm. Aerospace 2017, 4, 3.
Ali ZA, Wang D, Aamir M, Masroor S. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm. Aerospace. 2017; 4(1):3.Chicago/Turabian Style
Ali, Zain A.; Wang, Daobo; Aamir, Muhammad; Masroor, Suhaib. 2017. "Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm." Aerospace 4, no. 1: 3.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.