Alpha Uncertainty and Disturbance Based Robust Controller for Trajectory Tracking of Octocopter UAV
Publication: Journal of Aerospace Engineering
Volume 36, Issue 6
Abstract
A robust controller for an octocopter is essential for flight stability. The presence of matched and unmatched disturbances can deteriorate a stable performance. This work proposes a robust controller for an octocopter to reject the matched and unmatched disturbances. The effects of fast varying external disturbances and parametric uncertainty on octocopter are considered matched disturbances and sensor measurement noise is modeled as unmatched disturbances. To alleviate the effects of disturbances an alpha uncertainty and disturbance estimator based integral sliding mode (ISMC-Alpha UDE) control law is proposed. The Lyapunov theory is used for stability analysis of the proposed ISMC-Alpha UDE control law. Comparative numerical simulations along with root mean square error (RMSE) analysis are presented to show the better performance of the proposed controller. The proposed controller offers reduced and smooth control efforts to achieve robust state tracking performance by mitigating the effects of matched and unmatched disturbances. The Monte Carlo simulations are performed to validate the efficacy of the proposed design.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request. The data includes MATLAB (The Mathworks, Inc. 9.3.0.713579) codes used for numerical simulation, RMSE analysis, and Monte Carlo simulations.
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Published In
Journal of Aerospace Engineering
Volume 36 • Issue 6 • November 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Dec 28, 2021
Accepted: Jun 28, 2023
Published online: Sep 5, 2023
Published in print: Nov 1, 2023
Discussion open until: Feb 5, 2024
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