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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

    Intelligent Automation & Soft Computing, Vol.25, No.2, pp. 295-304, 2019, DOI:10.31209/2018.100000009

    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… More >

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