Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance
Yükleniyor...
Tarih
2016
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Inst Engineering Technology-Iet
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, an asymptotic tracking controller is developed for an aircraft model subject to additive, state-dependent, non-linear disturbance-like terms. Dynamic inversion technique in conjunction with robust integral of the sign of the error term is utilised in the controller design. Compared to the previous studies, the need of acceleration measurements of the aircraft have been removed. In addition, the proposed controller design utilises only the output of aircraft dynamics. Lyapunov based analysis is applied to prove global asymptotic convergence of the tracking error signal. Numerical simulation results are presented to illustrate the performance of the proposed robust controller.
Açıklama
Anahtar Kelimeler
Robust Control, Autonomous Aerial Vehicles, Aircraft, Control System Synthesis, Lyapunov Methods, Numerical Analysis, Robust Output Tracking Control, Unmanned Aerial Vehicle, Additive State Dependent Disturbance, Asymptotic Tracking Controller, Aircraft Model, Dynamic Inversion Technique, Aircraft Dynamics, Lyapunov Based Analysis, Global Asymptotic Convergence, Numerical Simulation
Kaynak
Iet Control Theory And Applications
WoS Q Değeri
Q1
Scopus Q Değeri
Q1
Cilt
10
Sayı
14
