TY - GEN
T1 - Adaptive control of an Aerial Robot using Lyapunov design
AU - Zarafshan, P.
AU - Moosavian, S. Ali A.
AU - Bahrami, M.
PY - 2008
Y1 - 2008
N2 - In this article, based on feedback linearization using Lyapunov design method, an adaptive controller is proposed for an Aerial Robot or unmanned aerial vehicle (UAV). After introducing a nonlinear dynamics model of the system in case of longitudinal equations, comparing controllers are designed to manage the system performance during various maneuvers. Also, stability analysis for the designed adaptation law is studied and discussed. To evaluate the performance of designed controllers for a given system, a comprehensive simulation program is developed. One of the most important results of this study is that tracking errors for the two state variables exponentially converge to zero, even in the presence of parameters uncertainty. Therefore, it is shown that the proposed adaptive controller is able to perform perfect path tracking maneuvers.
AB - In this article, based on feedback linearization using Lyapunov design method, an adaptive controller is proposed for an Aerial Robot or unmanned aerial vehicle (UAV). After introducing a nonlinear dynamics model of the system in case of longitudinal equations, comparing controllers are designed to manage the system performance during various maneuvers. Also, stability analysis for the designed adaptation law is studied and discussed. To evaluate the performance of designed controllers for a given system, a comprehensive simulation program is developed. One of the most important results of this study is that tracking errors for the two state variables exponentially converge to zero, even in the presence of parameters uncertainty. Therefore, it is shown that the proposed adaptive controller is able to perform perfect path tracking maneuvers.
KW - Adaptive control
KW - Aerial robotics
KW - Nonlinear dynamics
KW - Unmanned Aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=58049116541&partnerID=8YFLogxK
U2 - 10.1109/RAMECH.2008.4681513
DO - 10.1109/RAMECH.2008.4681513
M3 - Conference Paper
SN - 9781424416769
T3 - 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
SP - 1
EP - 6
BT - 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
T2 - 2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008
Y2 - 21 September 2008 through 24 September 2008
ER -