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
Mitigating Flight Performance Errors in UAVs through Hybrid MRAC controller
2022-12-02
694974 byte
Conference paper
Electronic Resource
English
AIAA | 2015
|AIAA | 2013
|NTRS | 2015
|Discrete-time integral MRAC with minimal controller synthesis and parameter projection
BASE | 2015
|