This research explores modelling, design, and control of quadcopters, focusing on mitigating flight performance errors that compensate the performance of Unmanned Aerial Vehicles (UAVs) performance. It also explores a mathematical model for simulation and a control of rotary-wing UAV systems. Moreover, it describes a design methodology for a micro-sized UAV in CAD software. Adaptive control techniques are then used to design four sub-controllers of UAVs named Altitude Control, Roll, Pitch, and Yaw. It is basically a remodeling of classical Model Reference Adaptive Control (MRAC) scheme, which is named Hybrid MRAC, ensuring a better rise time performance than classical MRAC. The controllers are then analyzed in the presence of disturbances to prove that adaptive controllers are more robust to external disturbances than non-adaptive ones. Lastly for state estimation, an Extended Kalman Filter (EKF) is applied to account for real-world sensor noises that further degrade the performance of UAV


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    Title :

    Mitigating Flight Performance Errors in UAVs through Hybrid MRAC controller


    Contributors:


    Publication date :

    2022-12-02


    Size :

    694974 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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