Robust adaptive tricopter control under parametric uncertainty and external disturbances conditions

Abstract

The paper addresses the challenge of developing and examining an adaptive robust control system tailored for a tricopter unmanned aerial vehicle (UAV) featuring rotating propellers. This endeavor occurs in an environment characterized by uncertain aerodynamic coefficients, a partially unknown input matrix, and external disturbances of unspecified origin. We construct a nonlinear mathematical model of tricopter dynamics to tackle this complexity, leveraging Lagrange-Euler equations. This model offers a linear (affine) parameterization concerning the vector (matrix) of parameters with unknown values.
A novel adaptation of the moment computation method is introduced, allowing for a deviation from the conventional structural constraints imposed by the regressor matrix, incorporating partial uncertainties in the input matrix. We employ the Lyapunov function method to establish the boundedness of all signals within the adaptive robust control system, which is built upon our proposed approach. Furthermore, we demonstrate the system's exponential convergence towards the "largest invariant set," whose size is contingent upon the feedback regularization in the adaptation loops and factoring in the disturbance boundaries.
To substantiate our findings, we conduct a computer-based investigation of the tricopter control system, utilizing the MATLAB software package.