Adaptive Control of a Tilt-Rotor UAV in Load Transportation Tasks - A LMI Based Approach

Marcelo Alves dos Santos¹; Guilherme Vianna Raffo¹

¹ Universidade Federal de Minas Gerais

Baixar PDF

Resumo

This paper proposes an adaptive control strategy to solve the path tracking problem of a Tilt-rotor UAV in load transportation tasks. Initially, a nonlinear dynamic model is obtained through the Euler-Lagrange formulation and linearized around a reference trajectory in order to obtain a linear parameter-varying model. Therefore, a discrete linear adaptive controller based on the LMI approach is designed to ensure closed-loop stability and increase the system's domain of attraction. In addiction, simulation results are shown to verify the good performance of the proposed controller in presence of external disturbances and model uncertainties.

Palavras-chave: Adaptive Control; Load Transportation; UAV; LMI; Underactuated Mechanical System