Current Proceedings on Technology

Yazarlar: Abdel Ilah Alshbatat, Ashar Khamaisa, Mais Khreisat

Konular:-

Anahtar Kelimeler:Linear Quadratic Regulator (LQR),Adaptive Controller System,Quadrotor Unmanned Aerial Vehicle

Özet: The need for a realistic adaptive controller system to operate a quadrotor unmanned aerial vehicle in potentially constrained environments has raised many interesting research questions. Flying a quadrotor UAV over a certain area requires a controller system that has the ability to adjust its parameters based on the online measurements. Under this condition, this paper proposes a new adaptive control system to stabilize a quadrotor that is designed to perform a variety of specific applications. The kinematics and dynamics of the quadrotor are derived, and then the baseline controller is redesigned in the case where there is an uncertainty in finding targets in search and rescue missions. Moreover, the control parameters are determined based on the desired performance set by the designer. To accommodate any uncertainties during the task phases, a new term is added to the feedback linearization controller in order to guarantee that the vehicle will not miss the target location.  The Linear Quadratic Regulator (LQR) is used in this work as the kernel of the controller system. This method works by minimizing a cost function that allows the observer to locate targets accurately. We present the results of simulations to demonstrate the suitability of the proposed control system for such missions. The findings indicate that the proposed adaptive control system is able to accommodate any uncertainties during the task phases.  

---