Energy-efficient adaptive robust control of vector thrust UAVs with unknown inertia parameters

Caiwu Ding, Lu Lu, Cong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper proposes an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. We consider a novel vector thrust UAV with all propellers able to tilt about two perpendicular axes, so that the thrust force generated by each propeller is a fully controllable vector in 3D space, based on which an adaptive robust control is designed for accurate trajectory tracking in the presence of inertial parametric uncertainties and uncertain nonlinearities. Theoretically, the resulting controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, in the presence of only parametric uncertainties, the controller achieves asymptotic output tracking. To resolve the redundancy in actuation, a thrust force optimization problem minimizing power consumption while achieving the desired body force wrench is formulated, and is shown to be convex with linear equality constraints. Simulation results are also presented to verify the proposed solution.

Original languageEnglish (US)
Title of host publicationModeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations
Subtitle of host publicationModeling, Analysis, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851913
DOIs
StatePublished - Jan 1 2018
EventASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States
Duration: Sep 30 2018Oct 3 2018

Publication series

NameASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Volume3

Other

OtherASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/TerritoryUnited States
CityAtlanta
Period9/30/1810/3/18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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