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Adaptive model predictive control-based attitude and trajectory tracking of a VTOL aircraft

Emami, S. A ; Sharif University of Technology | 2018

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  1. Type of Document: Article
  2. DOI: 10.1049/iet-cta.2017.1048
  3. Publisher: Institution of Engineering and Technology , 2018
  4. Abstract:
  5. A novel adaptive model-based predictive controller for attitude and trajectory tracking of a vertical take-off and landing(VTOL) aircraft in the simultaneous presence of model uncertainties and external disturbances is introduced in this study. Animportant challenge of designing the model-based controllers is developing an accurate model, especially in the presence ofmodel uncertainties. In this study, first, the nominal model of a ducted-fan air vehicle, which is a multi-input multi-outputnonlinear system with non-minimum phase behaviour, is given as the test case of this research. After that, two modified robustand adaptive model predictive controllers are proposed for tracking a predefined path in the presence of external gusts andmodel uncertainties. The design is performed by introducing two novel observers to estimate the model uncertainties andexternal disturbances, simultaneously. Different types of input constraints, as well as the time delay of the system inputs, can beconsidered effectively in the design steps of the proposed control strategy. The stability of the closed-loop system is provedunder a few realistic assumptions. The simulation results demonstrate the great capability of the proposed method for attitudeand trajectory tracking of the VTOL aircraft under model uncertainties and wind turbulence. © 2018 The Institution of Engineering and Technology
  6. Keywords:
  7. Aircraft control ; Aircraft detection ; Aircraft landing ; Closed loop systems ; Controllers ; Delay control systems ; Model predictive control ; Predictive control systems ; Trajectories ; Uncertainty analysis ; Adaptive model predictive control ; Adaptive model predictive controllers ; Control strategies ; External disturbances ; Model uncertainties ; Model-based controller ; Trajectory tracking ; Vertical takeoff and landing aircraft (VTOL) ; VTOL/STOL aircraft
  8. Source: IET Control Theory and Applications ; Volume 12, Issue 15 , 2018 , Pages 2031-2042 ; 17518644 (ISSN)
  9. URL: https://ieeexplore.ieee.org/document/8469174