Input Constrained M-MRAC for Multirotors Operating in an Urban Environment

Stepanyan, Vahram ; Krishnakumar, Kalmanje

关键词: ROTARY WING AIRCRAFT;    CITIES;    WIND DIRECTION;    ADAPTIVE CONTROL;    UNCERTAIN SYSTEMS;    MIMO (CONTROL SYSTEMS);    SYSTEMATIC ERRORS;    PREDICTION ANALYSIS TECHNIQUES;    ALGORITHMS;   

RP-ID  :  ARC-E-DAA-TN64491,ARC-E-DAA-TN63561

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

The paper presents a modified model reference adaptive control (M-MRAC) for multi-input multi-output nonlinear dynamical systems with time varying parametric uncertainties and bounded external disturbances. It uses a prediction model to rapidly generate adaptive estimates of the system's uncertainties with adjustable errors that converge to a small neighborhood of the origin. A sufficient condition is derived to specify the region of attraction in the space of initialization errors, design parameters and external commends. The approach is applied to thrust controlled multi-rotor air vehicles operating in an urban environment. It is shown that the designed controller can provide a good tracking of a given trajectory in the unknown urban wind field, assuming that the maximum thrust generated by the rotors is known. The performance of the algorithms are demonstrated in simulations.