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所属单位：自动化学院

发表刊物：Int. J. Model. Ident. Control

摘要：A hybrid control scheme is proposed in this paper to achieve the desired (position and altitude) tracking response of an unmanned aerial vehicle (UAV). The tri-rotor-based aircraft is selected to perform the simulations considering that the dynamic model of the UAV is already unstable, under-actuated and nonlinear in behaviour. The designed control scheme is used to produce the rotational velocities of UAV which are consequently handled by the hybrid controller. The hybrid controller consists of model reference adaptive control (MRAC) with regulation, pole-placement and tracking (RST) controller and the entire system stability is dealt with by MIT rules. The presented control scheme is tested via computer-based simulations to follow the desired position and attitude of UAV. The efficiency of the proposed scheme is compared with MRAC-based MIT rule and its validity is further checked with MRAC-based Lyapunov rule. The results show that the presented hybrid controller exhibits robustness, fast error convergence and a zero steady state error in the existence of model uncertainties and disturbances. Copyright © 2017 Inderscience Enterprises Ltd.

ISSN号：1746-6172

是否译文：否

发表时间：2017-01-01

合写作者：Ali, Zain Anwar,Aamir, Muhammad,Masroor, Suhaib

通讯作者：Ali, Zain Anwar,Aamir, Muhammad,王道波