A Near-Hover Adaptive Attitude Control Strategy of a Ducted Fan Micro Aerial Vehicle with Actuator Dynamics

Applied Sciences

Shouzhao Sheng¹  Chenwu Sun² 

[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing 210016, China; E-Mail

关键词: parameter estimation;    adaptive gain scheduling;    attitude control;    ducted fan micro aerial vehicle;   

DOI  :  10.3390/app5040666

来源: mdpi

【 摘 要 】

The aerodynamic parameters of ducted fan micro aerial vehicles (MAVs) are difficult and expensive to precisely measure and are, therefore, not available in most cases. Furthermore, the actuator dynamics with risks of potentially destabilizing the overall system are important but often neglected consideration factors in the control system design of ducted fan MAVs. This paper presents a near-hover adaptive attitude control strategy of a prototype ducted fan MAV with actuator dynamics and without any prior information about the behavior of the MAV. The proposed strategy consists of an online parameter estimation algorithm and an adaptive gain scheduling algorithm, with the former accommodating parametric uncertainties, and the latter approximately eliminating the coupling among axes and guaranteeing the control quality of the MAV. The effectiveness of the proposed strategy is verified numerically and experimentally.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.