Rana Javed Masood1, DaoBo Wang1, Zain Anwar Ali2, Muhammad
Anwar2
Intelligent Automation & Soft Computing, Vol.25, No.2, pp. 295-304, 2019, DOI: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… More >
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