Development of Adaptive Control System for Aerial Vehicles
Applied Sciences 2023
Vladimir Beliaev, Nadežda Kuņicina, Anastasija Žiravecka, Mārtiņš Bisenieks, Roberts Grants, Antons Patļins

This article represents and compares two control systems for a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV): a sliding proportional–integral–derivative (PID) controller and an adaptive L1 controller. The goal is to design a high-performing and stable control system for a specific VTOL drone. The mathematical model of the unique VTOL drone is presented as a control object. The sliding PID and adaptive L1 controllers are then developed and simulated, and their performance is compared. Simulation results demonstrate that both control systems achieve stable and accurate flight of the VTOL drone, but the adaptive L1 controller outperforms the sliding PID controller in terms of robustness and adaptation to changing conditions. This research contributes to ongoing work on adaptive control systems for VTOL UAVs and highlights the potential benefits of using L1 adaptive control for this application.

control systems; PID; adaptive control; L1 controllers; navigation; UAV; VTOL; drone; electric drive; aerodynamics; simulation; MATLAB; simulink

Beliaev, V., Kuņicina, N., Žiravecka, A., Bisenieks, M., Grants, R., Patļins, A. Development of Adaptive Control System for Aerial Vehicles. Applied Sciences, 2023, Vol. 13, No. 23, Article number 12940. e-ISSN 2076-3417. Pieejams: doi:10.3390/app132312940

Publication language
English (en)
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