@Article{2018.100000009,
AUTHOR = {Rana Javed Masood, DaoBo Wang, Zain Anwar Ali, Muhammad 
Anwar},
TITLE = {Adaptive Hybrid Control Scheme for Controlling the Position of Coaxial Tri‐ Rotor UAS},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {25},
YEAR = {2019},
NUMBER = {2},
PAGES = {295--304},
URL = {http://www.techscience.com/iasc/v25n2/39653},
ISSN = {2326-005X},
ABSTRACT = {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.},
DOI = {10.31209/2018.100000009}
}