ICUAS 2021 Paper Abstract

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Paper WeA1.2

Agarwal, Anmol (Technical University of Munich), Ng, Ee Meng (Nanyang Technological University), Low, Kin Huat (Nanyang Technological University)

Adaptive Control of Unmanned Quadrotor with Partial Actuator Failure Using Model Reference Adaptive Control (MRAC) with Dynamic Inversion

Scheduled for presentation during the Regular Session "Fault-Tolerant Control" (WeA1), Wednesday, June 16, 2021, 10:50−11:10, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, Navigation, Reliability of UAS

Abstract

Unmanned Aerial Vehicles (UAVs) often experience disturbances during operation, which will degrade its performance and may cause potential failure, affecting safety risks to civilians and other 3rd parties. In such event, UAVs with the common cascaded PID control might not be sufficient to compensate for this reduction in performance. This paper proposes to analyze algorithm for adaptive control, mainly focused on the model reference adaptive control (MRAC) such that despite any uncertainty the plant parameters remain close to the behavior of a desired reference model along with dynamic inversion as an adaptive controller for such scenarios which helps in decoupling of the flight states for the non-linear system. The results of the proposed method are compared with conventional PID based controller by implanting faults in motor outputs. The performance of the control are in terms of trajectory following is the compared.

 

 

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