Open AccessA combined model reference adaptive control law for multirotor UAVs
Author(s) -
Abdul Ghaffar Alia Farhana,
Richardson Thomas,
Greatwood Collin
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12137
Subject(s) - multirotor , reference model , control theory (sociology) , controller (irrigation) , computer science , convergence (economics) , adaptive control , key (lock) , control engineering , software deployment , flight test , transient (computer programming) , platoon , control (management) , engineering , simulation , artificial intelligence , aerospace engineering , operating system , agronomy , software engineering , computer security , economic growth , economics , biology
Model reference adaptive control (MRAC) offers the potential to adapt in real‐time to changes in the performance of small unmanned air vehicles. There are significant challenges with their use, however, primarily in the implementation and assurance of long‐term system stability. This paper presents flight test results for a combined model reference adaptive control (CMRAC) law applied to the height control loop of a multirotor. Key features include the implementation of CMRAC with a baseline controller allowing for in‐flight switching between the two; the use of an augmented state to improve the tracking performance and a CMRAC implementation that provides a shorter transient phase, faster parameter convergence, and closer tracking of the desired reference model response when compared with standard MRAC. With the current exponential growth of interest in unmanned air vehicles, the potential benefits of using CMRAC for control system development are significant, particularly for new vehicles with short development and testing phases and in cases where there are significant configuration changes in flight or prior to rapid deployment.