Adaptive Closed-Loop Identification and Tracking Control of an Aerial Vehicle with Unknown Inertia Parameters⁎The work is supported by the Engineering and Physical Sciences Research Council (EPSRC), grant number EP/R02572X/1, and National Centre for Nuclear Robotics. Issue 7 (2021)

• Record Type: Journal Article
• Authors: Imran, Imil Hamda; Stolkin, Rustam; Montazeri, Allahyar
• Is Part Of: IFAC-PapersOnLine. Volume 54:Issue 7(2021)
• Page Start: 785
• Page End: 790
• Publication Date: 2021
• Subjects: Grey box identification -- 6-DOF quadrotor -- certainty equivalence principle -- adaptive tracking control -- closed-loop identification -- unknown inertia parameters; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.08.457
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, the problem of adaptive closed-loop parameter estimation and tracking control of a six degree of freedom (6-DOF) nonlinear quadrotor unmanned aerial vehicle (UAV) is studied. To manage the complexity of the problem, the system dynamics is decomposed into two subsystems, i.e. translational dynamics and rotational dynamics. A nested control architecture is adopted to develop both adaptive tracking control and parameter estimation. To stabilize the outer loop, a virtual control input is proposed using a proportional-derivative (PD) controller to track the x, y and z positions. The rotational dynamics of UAV contains unknown inertia parameters appearing in the control structure as well as in a nonlinear dynamic term. An adaptive tracking scheme is designed using the certainty equivalence principle to handle both parameter estimation and tracking control in a closed-loop. The idea behind the controller design is to cancel the nonlinear term in the inner loop by estimating the unknown system parameters. The stability of the whole closed-loop system is proved with a rigorous analytical study. Moreover, the performance of the proposed controller is verified with several numerical analyses.