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Angular motion control design for a single ducted-fan UAV using robust adaptive pole-placement scheme in presence of bounded disturbances

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Abstract

In this paper, a robust adaptive pole-placement control (RAPPC) scheme is proposed for application to a single ducted-fan unmanned aerial vehicle (DUAV). By using the proposed control system, the yaw angle of the single DUAV system is required to track the desired trajectory with the tracking error staying within a compact set despite the presence of bounded disturbances and uncertainties. The pole-placement control (PPC) is designed based on a simple linear model of the system, and the adaptation law is incorporated to compensate for the perturbations in the real DUAV system. Moreover, the sigma-modification law guarantees the boundedness of the states in the presence of disturbances, and the stability of the whole system is proven in the sense of Lyapunov. Comparative simulations of the proposed RAPPC controller, RAPPC without the sigma-modification law, and a PID controller are conducted to investigate performance characteristics. Experimental studies with the proposed controller and a PID controller are carried out to enhance the practical feasibility of the RAPPC control system.

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Acknowledgments

Following are results of a study on the “Leaders in Industry-university Cooperation +” Project, supported by the Ministry of Education and National Research Foundation of Korea.

This research was supported by the National Research Foundation (NRF), Korea, under project BK21 FOUR (Smart Robot Convergence and Application Education Research Center).

Author information

Authors and Affiliations

  1. Department of Smart Robot Convergence and Application Engineering, Pukyong National University, Busan, 48513, Korea

    Minh-Thien Tran, Thinh Huynh & Young-Bok Kim

  2. Department of Mechanical System Engineering, Pukyong National University, Busan, 48513, Korea

    Soumayya Chakir & Dong-Hun Lee

Authors
  1. Minh-Thien Tran
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  2. Thinh Huynh
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  3. Soumayya Chakir
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  4. Dong-Hun Lee
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  5. Young-Bok Kim
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Corresponding authors

Correspondence to Dong-Hun Lee or Young-Bok Kim.

Additional information

Minh-Thien Tran received a B.E. degree in Mechatronics Engineering from the Ho Chi Minh City of Technology University, Ho Chi Minh, Vietnam in 2016 and an M.E. degree in Mechanical Design Engineering from Pukyong Nat’l Univ, Busan, South Korea in 2019. He is currently a Ph.D. candidate at the Department of Smart Robot Convergence and Application Engineering, Pukyong Nat’l Univ., Busan, Korea, under the supervision of Prof. Young-Bok Kim. His research fields of interest are time-delay control, control of nonlinear plants, motion control engineering, robotics, VTOL UAVs, and factory automation.

Thinh Huynh received the Engineering degree and Master of Engineering degree in Vehicle Engineering from Ho Chi Minh City University of Technology and Education, Vietnam, in 2014 and 2016. Currently, he is a Ph.D. student in the Department of Smart Robot Convergence and Application Engineering, Pukyong National University, Busan, Korea, under the supervision of Prof. Young-Bok Kim. His research interests include control engineering, robotics, and automotive engineering.

Soumayya Chakir received the State Engineer degree in Mechatronics Engineering from the National School of Applied Sciences of Fez, Morocco in 2015. Currently, she is a Ph.D. student in the Department of Mechanical System Engineering, Pukyong National University, Busan, Korea, under the supervision of Prof. Young-ok Kim. Her research interests include control engineering, mechatronics, marine systems, and robotics.

Dong-Hun Lee received the B.S., M.S., and Ph.D. degrees in Mechanical System Engineering from Pukyong National University, Busan, Korea, in 2017, 2019, and 2021. Currently, he is working as a Postdoctoral Researcher with the Industrial Science Technology Research Center, Pukyong National University, Busan, Korea. His research interests include control theory and application with control system design of marine systems.

Young-Bok Kim received the B.S. and M.S degrees in Mechanical System Engineering from Pukyong National University, Busan, Korea, and the Ph.D. degree from Kobe University, Kobe, Japan in 1996. He is currently a Professor with the Department of Mechanical System Engineering, Pukyong National University, Busan, Korea. He has held a visiting position at the Department of Mechanical Engineering, University of Maryland, Mary land (2011-2012). He is a member of ICASE, KSME, ASME, and a senior member of IEEE. His research interests include control theory and application with dynamic ship positioning and autonomous control system design, etc.

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Tran, MT., Huynh, T., Chakir, S. et al. Angular motion control design for a single ducted-fan UAV using robust adaptive pole-placement scheme in presence of bounded disturbances. J Mech Sci Technol 36, 2031–2041 (2022). https://doi.org/10.1007/s12206-022-0338-9

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  • DOI: https://doi.org/10.1007/s12206-022-0338-9

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