Robust and adaptive control of a novel ducted fan vehicle in the presence of actuator uncertainties and saturation

Xiaoliang Wang*, Changle Xiang, Bin Xu, Homayoun Najjaran

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

This paper provides a rigorous steps for controller design of a novel ducted fan vehicle under actuator uncertainties and saturation. Considering uncertain actuator dynamics, a control-oriented model is proposed to provide convenience for practical control applications. A structured robust controller that stabilizes the vehicle in the presence of actuator uncertainties and external disturbances is designed using parametric robust control tuning algorithm. Subject to input saturation, adaptive control is applied as an augmentation of the structured robust controller. Simulation results reveal that our method is able to keep fast reference tracking speed and strong ability to reject disturbance even with large uncertainties, and system performance is further improved by the adopted adaptive control law when actuator saturation is active.

Original languageEnglish
Title of host publication2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1516-1521
Number of pages6
ISBN (Electronic)9781509044948
DOIs
Publication statusPublished - 25 Jul 2017
Event2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 - Miami, United States
Duration: 13 Jun 201716 Jun 2017

Publication series

Name2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Conference

Conference2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Country/TerritoryUnited States
CityMiami
Period13/06/1716/06/17

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