دورية أكاديمية
Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop
| العنوان: | Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop |
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| المؤلفون: | Imil Hamda Imran, Aydin Can, Rustam Stolkin, Allahyar Montazeri |
| المصدر: | Scientific Reports, Vol 13, Iss 1, Pp 1-19 (2023) |
| بيانات النشر: | Nature Portfolio, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Medicine LCC:Science |
| مصطلحات موضوعية: | Medicine, Science |
| الوصف: | Abstract The real-time unknown parameter estimation and adaptive tracking control problems are investigated in this paper for a six degrees of freedom (6-DOF) of under-actuated quadrotor unmanned aerial vehicle (UAV). A virtual proportional derivative (PD) controller is designed to maintain the translational dynamics. Two adaptive schemes are developed to handle the attitude dynamics of the UAV with several unknown parameters. In the beginning, a classical adaptive scheme (CAS) using the certainty equivalence principle is proposed and designed. The idea is to design a controller for an ideal situation by assuming the unknown parameters were known. Then the unknown parameters are replaced by their estimation. A theoretical analysis is provided to ensure the trajectory tracking of the adaptive controller. However, an inherent drawback of this scheme is that there is no guarantee for the estimated parameters to converge to the actual values. To address this issue, a new adaptive scheme (NAS) is developed as the next step by adding a continuously differentiable function to the control structure. The proposed technique guarantees handling of the parametric uncertainties with an appropriate design manifold. A rigorous analytical proof, numerical simulation analyses, and experimental validation are presented to show the effectiveness of the proposed control design. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2045-2322 |
| Relation: | https://doaj.org/toc/2045-2322 |
| DOI: | 10.1038/s41598-023-29544-6 |
| URL الوصول: | https://doaj.org/article/4b3ae9f962db4c06a04339985eccdcdb |
| رقم الأكسشن: | edsdoj.4b3ae9f962db4c06a04339985eccdcdb |
| قاعدة البيانات: | Directory of Open Access Journals |
Find this article in full text from Springer Verlag. 
Full Text Finder | تدمد: | 20452322 |
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| DOI: | 10.1038/s41598-023-29544-6 |