Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle

The present paper addresses an attitude tracking control problem of a ducted fan microaerial vehicle. The proposed indirect adaptive controller can greatly reduce tracking error in the initial stage of the adaptive learning process by using an error compensation strategy and can achieve good capabil...

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Bibliographic Details
Published inMathematical problems in engineering Vol. 2015; no. 2015; pp. 1 - 11
Main Authors Sheng, Shouzhao, Zhao, Hong, Sun, Chenwu
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2015
Hindawi Limited
Subjects
Adaptive control
Adaptive control systems
Adjustable
Aeronautics
Attitude control
Controllers
Convergence
Design
Error analysis
Error compensation
Learning
Mathematical analysis
Mathematical models
Micro air vehicles (MAV)
Parameters
Strategy
Tracking control
Tracking errors
Vehicles
Vertical takeoff
China
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Summary:The present paper addresses an attitude tracking control problem of a ducted fan microaerial vehicle. The proposed indirect adaptive controller can greatly reduce tracking error in the initial stage of the adaptive learning process by using an error compensation strategy and can achieve good capability to eliminate the adverse effect of measurement noises on the convergence of adjustable parameters. Moreover, the learning rate adaptation strategy is proposed to further minimize the adverse effect of large learning rates on the convergence of adjustable parameters. The experimental tests have illustrated the effectiveness of the proposed adaptive controller.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 23
ISSN:1024-123X
1563-5147
DOI:10.1155/2015/135489