Open Access
ARTICLE
Adaptive Hybrid Control Scheme for Controlling the Position of Coaxial Tri‐ Rotor UAS
Rana Javed Masood1, DaoBo Wang1, Zain Anwar Ali2, Muhammad
Anwar2
1 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China.
2 Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan.
* Corresponding Author: Rana Javed Masood,
Intelligent Automation & Soft Computing 2019, 25(2), 295-304. https://doi.org/10.31209/2018.100000009
Abstract
In this article, adaptive hybrid control scheme is proposed for controlling the
position of a coaxial tri-rotor unmanned aerial system (UAS) in the presence of
input saturation and external wind disturbance. The adaptive hybrid controller
consists of model reference adaptive control with integral feedback (MRACI)
and proportional integral derivative (PID) controller. The adaptive controller
deals with the flight dynamics uncertainties and PID controller is used for tuning
the gains of MRACI whereas the stability of system is verified by Lyapunov
stability criterion. The integrator improves the order of the system thereby
improving the convergence rate by rejecting the noise and eliminating steady
state errors. Moreover, anti-windup Compensator (AWC) is used to handle the
saturation problem. The designed algorithm is applied to a six degree of
freedom (6-DOF) nonlinear model of coaxial tri-rotor UAS. Simulations are
carried out to validate the reference path of UAS and are compared with MRAC.
In this article the wind disturbance test is also performed to check the
robustness of the designed controller. It is observed that the proposed
algorithm exhibits, quick error convergence, zero steady state error and
robustness in the presence of input saturation and external wind disturbance.
Keywords
Cite This Article
APA Style
Masood, R.J., Wang, D., Ali, Z.A.,
Anwar, M. (2019). Adaptive hybrid control scheme for controlling the position of coaxial tri‐ rotor UAS. Intelligent Automation & Soft Computing, 25(2), 295-304. https://doi.org/10.31209/2018.100000009
Vancouver Style
Masood RJ, Wang D, Ali ZA,
Anwar M. Adaptive hybrid control scheme for controlling the position of coaxial tri‐ rotor UAS. Intell Automat Soft Comput . 2019;25(2):295-304 https://doi.org/10.31209/2018.100000009
IEEE Style
R.J. Masood, D. Wang, Z.A. Ali, and M.
Anwar "Adaptive Hybrid Control Scheme for Controlling the Position of Coaxial Tri‐ Rotor UAS," Intell. Automat. Soft Comput. , vol. 25, no. 2, pp. 295-304. 2019. https://doi.org/10.31209/2018.100000009