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Adaptive Hybrid Control Scheme for Controlling the Position of Coaxial Tri‐ Rotor UAS

Rana Javed Masood1, DaoBo Wang1, Zain Anwar Ali2, Muhammad Anwar2

1 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China.
2 Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi, Pakistan.

* Corresponding Author: Rana Javed Masood,

Intelligent Automation & Soft Computing 2019, 25(2), 295-304.


In this article, adaptive hybrid control scheme is proposed for controlling the position of a coaxial tri-rotor unmanned aerial system (UAS) in the presence of input saturation and external wind disturbance. The adaptive hybrid controller consists of model reference adaptive control with integral feedback (MRACI) and proportional integral derivative (PID) controller. The adaptive controller deals with the flight dynamics uncertainties and PID controller is used for tuning the gains of MRACI whereas the stability of system is verified by Lyapunov stability criterion. The integrator improves the order of the system thereby improving the convergence rate by rejecting the noise and eliminating steady state errors. Moreover, anti-windup Compensator (AWC) is used to handle the saturation problem. The designed algorithm is applied to a six degree of freedom (6-DOF) nonlinear model of coaxial tri-rotor UAS. Simulations are carried out to validate the reference path of UAS and are compared with MRAC. In this article the wind disturbance test is also performed to check the robustness of the designed controller. It is observed that the proposed algorithm exhibits, quick error convergence, zero steady state error and robustness in the presence of input saturation and external wind disturbance.


Cite This Article

R. J. Masood, D. Wang, Z. A. Ali and M. Anwar, "Adaptive hybrid control scheme for controlling the position of coaxial tri‐ rotor uas," Intelligent Automation & Soft Computing, vol. 25, no.2, pp. 295–304, 2019.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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