Adaptive control systems for a tricopter with rotary propellers based on invariant immersion method under conditions of uncertain aerodynamic coefficients and partially uncertain input matrix

In this work, the authors set out to develop and investigate adaptive control systems for a tricopter with rotary propellers described in terms of Lagrangian–Euler equations under conditions of uncertain aerodynamic coefficients and a partially uncertain input matrix. Two adaptive control systems synthesized based on the invariant immersion method for a class of Lagrangian nonlinear systems are developed and investigated: 1) a sliding mode adaptive control system and 2) an adaptive control system using the function approximation method. The stability of both developed adaptive systems is justified by the Lyapunov function method. The former adaptive control system turns out to be realizable only for objects of second or third order (and/or with one input and one output), while the latter adaptive control system is realizable for a class of Lagrangian nonlinear systems of any order under conditions of uncertain parameters and a partially uncertain input matrix. The results of a simulation study of the latter adaptive control system for a tricopter with rotary propellers are presented to validate its effectiveness under the above conditions.

Authors: Duy Khanh Nguyen, V. V. Putov, V. N. Sheludko

Direction: Electrical Engineering

Keywords: tricopter with rotary propellers, adaptive control system, sliding mode control, invariant immersion (I&I) method, function approximation method, uncertain aerodynamic coefficients, partial uncertainty of the input matrix, modeling

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