Robust output tracking control of an unmanned aerial vehicle subject to additive state dependent disturbance

• Published in: IET control theory & applications Vol. 10; no. 14; pp. 1612 - 1619
• Main Authors: Tanyer, İlker, Tatlıcıoğlu, Enver, Zergeroğlu, Erkan, Deniz, Meryem, Bayrak, Alper, Özdemirel, Barbaros
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 19.09.2016
• Subjects: additive state dependent disturbance; Additives; Aircraft; aircraft dynamics; aircraft model; Asymptotic properties; asymptotic tracking controller; autonomous aerial vehicles; Computer simulation; control system synthesis; Controllers; Design analysis; dynamic inversion technique; global asymptotic convergence; Lyapunov based analysis; Lyapunov methods; Nonlinearity; numerical analysis; numerical simulation; Research Article; robust control; robust output tracking control; Tracking errors; unmanned aerial vehicle; robust output tracking control; unmanned aerial vehicle; dynamic inversion technique; aircraft; control system synthesis; aircraft model; aircraft dynamics; autonomous aerial vehicles; global asymptotic convergence; numerical analysis; additive state dependent disturbance; robust control; asymptotic tracking controller; numerical simulation; Lyapunov methods; Lyapunov based analysis
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2015.1304

In this study, an asymptotic tracking controller is developed for an aircraft model subject to additive, state-dependent, non-linear disturbance-like terms. Dynamic inversion technique in conjunction with robust integral of the sign of the error term is utilised in the controller design. Compared to the previous studies, the need of acceleration measurements of the aircraft have been removed. In addition, the proposed controller design utilises only the output of aircraft dynamics. Lyapunov based analysis is applied to prove global asymptotic convergence of the tracking error signal. Numerical simulation results are presented to illustrate the performance of the proposed robust controller.