The paper presents a modified model reference adaptive control (M-MRAC) for multi-input multi-output nonlinear dynamical systems with time varying parametric uncertainties and bounded external disturbances. It uses a prediction model to rapidly generate adaptive estimates of the system's uncertainties with adjustable errors that converge to a small neighborhood of the origin. A sufficient condition is derived to specify the region of attraction in the space of initialization errors, design parameters and external commends. The approach is applied to thrust controlled multi-rotor air vehicles operating in an urban environment. It is shown that the designed controller can provide a good tracking of a given trajectory in the unknown urban wind field, assuming that the maximum thrust generated by the rotors is known. The performance of the algorithms are demonstrated in simulations.


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    Titel :

    Input Constrained M-MRAC for Multirotors Operating in an Urban Environment


    Beteiligte:

    Kongress:

    AIAA Science and Technology Forum and Exposition ; 2019 ; San Diego, CA, United States


    Erscheinungsdatum :

    2019-01-07


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




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