Modeling & Controlling the Dynamics of Tri-rotor UAV Using Robust RST Controller with MRAC Adaptive Algorithm

Abstract

This paper presents a mathematical approach of the controlling of Unmanned Aerial Vehicle (UAV) translational and rotational movement dynamics by using classical regulation, pole-placement & tracking (RST) controller with model reference adaptive control (MRAC). Identification of a black box is done by using the Least Square Estimation (LSE) method while MIT rule is used as a control algorithm in conjunction with the RST controller with MRAC. The desired result of 6-degrees of freedom (DOF) via Multiple Input and Multiple Output (MIMO) model comprises the equation of motions which utilizes UAV to stabilize the nonlinear, translational and rotational movement implements the adaptive approach via initial conditions at the start of vertical takeoff. The numerical approach simplifies the control equations of the tri-rotor and stabilizes towards linearity.The resulted control strategy is affected over nonlinear simulation for each control dynamic and gives more stability with less power requirements. Hence the adaptive algorithm is ensuring the controlling and stability of the system.

SURF and LA with RGB Vector Space Based Detection and Monitoring of Manholes with an Application to Tri-Rotor UAS Images

“…Once the probability distribution is achieved, the highest probability is assigned for the first circle found. By discovering all the values, other circles are recognized by the equations (17) and (18). The method is recurring until the exploit probability goes to the minimum threshold .…”

“…In this experiment we use a tri-rotor aerial vehicle for the experiment [17], [18] and which was produced by Nanjing Stro-Flight Company limited (S&mc) the professional producer of flight motion UAV and simulators. It has three rotors and in each rotor, there's a brushless motor and an electronic ardu-pilot controller is situated in the middle of the UAS.…”

Trajectory Tracking of a Nonholonomic Wheeleed Mobile Robot Using Hybrid Controller

“…From equation (12) all the kinematic restrictions are taken to be sovereign of time and written as. (13) To consider a matrix having full rank formed by independent vector having linear fields and null space of is written by (14) According to equation (13) and (14) the Vector time function .…”

“…The RST control algorithm is a classical approach which is based on poleplacement theory [10] by analyzing its characteristics in our robot classical RST controller applied directly on the system and secondly Fuzzy based RST strategy is applied in our model by taking the difference of their robustness between both controllers [11], [12]. However the RST controller appears to be remarkable substitute to Proportional Integral (PI) controller, because it permits finest conciliation between speed and accuracy.…”

Hybrid Strategy for Nonlinear Control of (6 DOF) Under Actuated Tricolor UAV

“…In which, Euler angles of UAV are ( , θ, ), the linear and angular velocity can be written as ( , , ) and ( , , ). The fixed body frame of a trirotor is = { , , } and for the Earth frame is = { , , } respectively [5]. Previously, many control algorithms were already proposed to control the dynamics and stability of the UAV.…”