Volume 17, Issue 8 (10-2017)                   Modares Mechanical Engineering 2017, 17(8): 68-74 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Kabiri M, Menhaj M B, Atrainfar H. Trajectory tracking of a VTOL aircraft with uncertainty and disturbances. Modares Mechanical Engineering 2017; 17 (8) :68-74
URL: http://mme.modares.ac.ir/article-15-11998-en.html
1- Amirkabir University of Technology
2- Professor/Amirkabir University of Technology
3- Assistant Professor/Amirkabir University of Techonolgy
Abstract:   (4806 Views)
This paper addresses the trajectory tracking of a Vertical Take-Off and Landing (VTOL) aircraft. Our objective is to design a controller for a VTOL aircraft in such a way that the aircraft tracks a predefined 3d spatial path in the presence of constant disturbances and uncertainty in the inertial matrix. Taking advantage of the extraction algorithm, we separate the design for the translational and rotational dynamics. First a virtual controller is designed for the translational dynamics from which the ideal thrust direction is extracted. To deal with the under-actuation of the translational dynamics, we have exploited an auxiliary system while an estimator is also involved in the design of the virtual controller to compensate for the effect of the translational disturbance. In order to keep our estimation bounded, we utilize the projection operator which is also smooth enough. An adaptive sliding mode control is used for rotational dynamics control such that the ideal thrust is accomplished. Since the inertial matrix and the bound on rotational disturbance is unknown, an adaptive structure is used to estimate the unknown bounds. The stability of the control framework is established through Lyapunov analysis. Finally simulation results are given to test the validity of the proposed control scheme.
Full-Text [PDF 1074 kb]   (4815 Downloads)    
Article Type: Research Article | Subject: Control
Received: 2017/04/27 | Accepted: 2017/07/12 | Published: 2017/08/8

Add your comments about this article : Your username or Email:
CAPTCHA

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.