Year: 2025
Type: article
Abstract: In this paper, a decentralized robust direct model reference adaptive controller (MRAC) is suggested for the pose control of a quadrotor unmanned aerial vehicle (UAV) in order to prevent parameter drift. The governing equations of motion referred to the rotational system of the quadrotor UAV are parameterized, in terms of a matched uncertainty by the control input, in a decentralized way from the angles of motion, where bounded perturbations are also considered. An error-dependent damping term in the update law is added to enforce robustness. Uniform ultimate boundedness of the tracking error signal is ensured. The translational dynamics are governed through a linear PID control. The performance of the decentralized robust MRAC scheme here proposed is assessed via simulation results.
Source: Applied Sciences
DOI: 10.3390/app152111713
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Funder: Tecnológico Nacional de México
Award: G2569566606
OpenAlex ID: W4415810071