Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method

Hongyu Zhang; Xiaodong Liu; Yong Xu

doi:10.1007/978-981-99-6187-0_43

Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method

Hongyu Zhang, Xiaodong Liu, Yong Xu^*

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Ducted fan UAV system is a typical multi-channel coupled nonlinear system. To implement reliable control of it, the structure and mathematical model of UAV must first be clarified. After the system model is established, it needs to be linearized and converted into a state-space expression before the controller can be designed. Thinking about controller design, we select the Linear Quadratic Regulator (LQR) method as the basic controller at first. According to simulation analysis, it is found that its dynamic performance is excellent, but it cannot effectively fight against the influence of the external disturbance. So, we improved direct adaptive controller and combined it with Kalman filter. The simulation results show that the controller realizes the function of anti-disturbance, and improves the robustness of the system.

Original language	English
Title of host publication	Proceedings of 2023 Chinese Intelligent Automation Conference
Editors	Zhidong Deng
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	427-436
Number of pages	10
ISBN (Print)	9789819961863
DOIs	https://doi.org/10.1007/978-981-99-6187-0_43
Publication status	Published - 2023
Event	Chinese Intelligent Automation Conference, CIAC 2023 - Nanjing, China Duration: 2 Oct 2023 → 5 Oct 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1082 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	Chinese Intelligent Automation Conference, CIAC 2023
Country/Territory	China
City	Nanjing
Period	2/10/23 → 5/10/23

Keywords

Direct Adaptive Control
Ducted Fan UAV
Kalman Filter
LQR Control

Access to Document

10.1007/978-981-99-6187-0_43

Cite this

Zhang, H., Liu, X., & Xu, Y. (2023). Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method. In Z. Deng (Ed.), Proceedings of 2023 Chinese Intelligent Automation Conference (pp. 427-436). (Lecture Notes in Electrical Engineering; Vol. 1082 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6187-0_43

@inproceedings{b2a4601b072b41c7a76658d3715d3654,

title = "Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method",

abstract = "Ducted fan UAV system is a typical multi-channel coupled nonlinear system. To implement reliable control of it, the structure and mathematical model of UAV must first be clarified. After the system model is established, it needs to be linearized and converted into a state-space expression before the controller can be designed. Thinking about controller design, we select the Linear Quadratic Regulator (LQR) method as the basic controller at first. According to simulation analysis, it is found that its dynamic performance is excellent, but it cannot effectively fight against the influence of the external disturbance. So, we improved direct adaptive controller and combined it with Kalman filter. The simulation results show that the controller realizes the function of anti-disturbance, and improves the robustness of the system.",

keywords = "Direct Adaptive Control, Ducted Fan UAV, Kalman Filter, LQR Control",

author = "Hongyu Zhang and Xiaodong Liu and Yong Xu",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.; Chinese Intelligent Automation Conference, CIAC 2023 ; Conference date: 02-10-2023 Through 05-10-2023",

year = "2023",

doi = "10.1007/978-981-99-6187-0_43",

language = "English",

isbn = "9789819961863",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "427--436",

editor = "Zhidong Deng",

booktitle = "Proceedings of 2023 Chinese Intelligent Automation Conference",

address = "Germany",

}

Zhang, H, Liu, X & Xu, Y 2023, Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method. in Z Deng (ed.), Proceedings of 2023 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol. 1082 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 427-436, Chinese Intelligent Automation Conference, CIAC 2023, Nanjing, China, 2/10/23. https://doi.org/10.1007/978-981-99-6187-0_43

Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method. / Zhang, Hongyu; Liu, Xiaodong; Xu, Yong.
Proceedings of 2023 Chinese Intelligent Automation Conference. ed. / Zhidong Deng. Springer Science and Business Media Deutschland GmbH, 2023. p. 427-436 (Lecture Notes in Electrical Engineering; Vol. 1082 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of Attitude Controller for Ducted Fan UAV Based on Improved Direct Adaptive Control Method

AU - Zhang, Hongyu

AU - Liu, Xiaodong

AU - Xu, Yong

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

PY - 2023

Y1 - 2023

N2 - Ducted fan UAV system is a typical multi-channel coupled nonlinear system. To implement reliable control of it, the structure and mathematical model of UAV must first be clarified. After the system model is established, it needs to be linearized and converted into a state-space expression before the controller can be designed. Thinking about controller design, we select the Linear Quadratic Regulator (LQR) method as the basic controller at first. According to simulation analysis, it is found that its dynamic performance is excellent, but it cannot effectively fight against the influence of the external disturbance. So, we improved direct adaptive controller and combined it with Kalman filter. The simulation results show that the controller realizes the function of anti-disturbance, and improves the robustness of the system.

AB - Ducted fan UAV system is a typical multi-channel coupled nonlinear system. To implement reliable control of it, the structure and mathematical model of UAV must first be clarified. After the system model is established, it needs to be linearized and converted into a state-space expression before the controller can be designed. Thinking about controller design, we select the Linear Quadratic Regulator (LQR) method as the basic controller at first. According to simulation analysis, it is found that its dynamic performance is excellent, but it cannot effectively fight against the influence of the external disturbance. So, we improved direct adaptive controller and combined it with Kalman filter. The simulation results show that the controller realizes the function of anti-disturbance, and improves the robustness of the system.

KW - Direct Adaptive Control

KW - Ducted Fan UAV

KW - Kalman Filter

KW - LQR Control

UR - http://www.scopus.com/inward/record.url?scp=85174734072&partnerID=8YFLogxK

U2 - 10.1007/978-981-99-6187-0_43

DO - 10.1007/978-981-99-6187-0_43

M3 - Conference contribution

AN - SCOPUS:85174734072

SN - 9789819961863

T3 - Lecture Notes in Electrical Engineering

SP - 427

EP - 436

BT - Proceedings of 2023 Chinese Intelligent Automation Conference

A2 - Deng, Zhidong

PB - Springer Science and Business Media Deutschland GmbH

T2 - Chinese Intelligent Automation Conference, CIAC 2023

Y2 - 2 October 2023 through 5 October 2023

ER -