This article presents a robust adaptive control scheme for six-degrees of freedom (DOF) unmanned aerial vehicles (UAVs) in the presence of modeling uncertainties and actuation faults. The proposed control is in proportional-derivative (PD) form, and is able to tolerate actuation faults yet ensure stability and transient performance without the need for the detail model information of UAV. Furthermore, the PD control scheme exploited adaptively self-tuning PD gains, which avoids the ad-hoc and time-consuming trial and error process for gain determination as commonly required in traditional PD control, thus is design-friendly and low-cost, rendering the control algorithms easy and straightforward for programming and implementation. Both theoretical analysis and numerical simulation validate the effectiveness of the proposed control method.

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The authors declare no potential conflict of interest.

Open Research

DATA AVAILABILITY STATEMENT

The data that support the findings of this study are available from corresponding author upon reasonable request.

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Volume32, Issue18

Special Issue:PID Control in the Information Age: Theoretical Advances and Applications

December 2022

Pages 9761-9775

Robust adaptive fault-tolerant proportional-derivative tracking control for six-degrees of freedom unmanned aerial vehicles

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Robust adaptive fault-tolerant proportional-derivative tracking control for six-degrees of freedom unmanned aerial vehicles

Abstract

CONFLICT OF INTEREST

Open Research

DATA AVAILABILITY STATEMENT

REFERENCES

Citing Literature

References

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