TY - GEN
T1 - Robust and adaptive control of a novel ducted fan vehicle in the presence of actuator uncertainties and saturation
AU - Wang, Xiaoliang
AU - Xiang, Changle
AU - Xu, Bin
AU - Najjaran, Homayoun
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85034028217
U2 - 10.1109/ICUAS.2017.7991408
DO - 10.1109/ICUAS.2017.7991408
M3 - Conference contribution
AN - SCOPUS:85034028217
T3 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
SP - 1516
EP - 1521
BT - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Y2 - 13 June 2017 through 16 June 2017
ER -