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Volume 10
Issue 7
10.3390/act10070162
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Article

Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft

by
Ahmed R. Ajel
1,
Amjad J. Humaidi
2,*,
Ibraheem Kasim Ibraheem
3 and
Ahmad Taher Azar
4,5
1
Middle Technical University/Electrical Engineering Technical College, Baghdad 10001, Iraq
2
Control and Systems Engineering Department, University of Technology, Baghdad 10001, Iraq
3
Department of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, Iraq
4
College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia
5
Faculty of Computers and Artificial Intelligence, Benha University, Benha 13511, Egypt
*
Author to whom correspondence should be addressed.
Actuators 2021, 10(7), 162; https://doi.org/10.3390/act10070162
Submission received: 25 May 2021 / Revised: 24 June 2021 / Accepted: 25 June 2021 / Published: 15 July 2021
(This article belongs to the Section Control Systems)
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Abstract

This study presents a control design of roll motion for a vertical take-off and landing unmanned air vehicle (VTOL-UAV) design based on the Model Reference Adaptive Control (MRAC) scheme in the hovering flight phase. The adaptive laws are developed for the UAV system under nonparametric uncertainty (gust and wind disturbance). Lyapunov-based stability analysis of the adaptive controlled UAV system under roll motion has been conducted and the adaptive laws have been accordingly developed. The Uniform Ultimate Boundness (UUB) of tracking error has been proven and the stability analysis showed that the incorporation of dead-zone modification in adaptive laws could guarantee the uniform boundness of all signals. The computer simulation has been conducted based on a proposed controller for tracking control of the roll motion. The results show that the drift, which appears in estimated gain behaviors due to the application of gust and wind disturbance, could be stopped by introducing dead-zone modification in adaptive laws, which leads to better robustness characteristics of the adaptive controller.
Keywords: adaptive model reference model; tail-sitter VTOL aircraft; modification; robustness; stability analysis adaptive model reference model; tail-sitter VTOL aircraft; modification; robustness; stability analysis

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MDPI and ACS Style

Ajel, A.R.; Humaidi, A.J.; Ibraheem, I.K.; Azar, A.T. Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft. Actuators 2021, 10, 162. https://doi.org/10.3390/act10070162

AMA Style

Ajel AR, Humaidi AJ, Ibraheem IK, Azar AT. Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft. Actuators. 2021; 10(7):162. https://doi.org/10.3390/act10070162

Chicago/Turabian Style

Ajel, Ahmed R., Amjad J. Humaidi, Ibraheem Kasim Ibraheem, and Ahmad Taher Azar. 2021. "Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft" Actuators 10, no. 7: 162. https://doi.org/10.3390/act10070162

APA Style

Ajel, A. R., Humaidi, A. J., Ibraheem, I. K., & Azar, A. T. (2021). Robust Model Reference Adaptive Control for Tail-Sitter VTOL Aircraft. Actuators, 10(7), 162. https://doi.org/10.3390/act10070162

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