Abstract
This article presents a robust adaptive control scheme for six-degrees of freedom (DOF) unmanned aerial vehicles (UAVs) in the presence of modeling uncertainties and actuation faults. The proposed control is in proportional-derivative (PD) form, and is able to tolerate actuation faults yet ensure stability and transient performance without the need for the detail model information of UAV. Furthermore, the PD control scheme exploited adaptively self-tuning PD gains, which avoids the ad-hoc and time-consuming trial and error process for gain determination as commonly required in traditional PD control, thus is design-friendly and low-cost, rendering the control algorithms easy and straightforward for programming and implementation. Both theoretical analysis and numerical simulation validate the effectiveness of the proposed control method.
| Original language | English |
|---|---|
| Pages (from-to) | 9761-9775 |
| Number of pages | 15 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 32 |
| Issue number | 18 |
| Early online date | 15 Sept 2022 |
| DOIs | |
| Publication status | Published - 1 Dec 2022 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2021 John Wiley & Sons Ltd.
Funding
This work was supported in part by the Zhejiang Laboratory under Grant 2019NB0AB06, and in part by the National Natural Science Foundation under Grants 61833013, 61773081, 61860206008, and 61933012.
Keywords
- actuator faults
- fault-tolerant
- PD control
- robust adaptive
- six-DOS UVA
- uniformly and ultimately bounded