Adaptive Backstepping based Linear Parameter Varying Model Predictive Control Multi-rotor UAVs
- Resource Type
- Conference
- Authors
- Kazim, Muhammad; Azar, Ahmad Taher; Abdelkader, Mohamed; Koubaa, Anis
- Source
- 2022 2nd International Conference of Smart Systems and Emerging Technologies (SMARTTECH) SMARTTECH Smart Systems and Emerging Technologies (SMARTTECH), 2022 2nd International Conference of. :166-171 May, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Backstepping
Target tracking
Attitude control
Trajectory tracking
Simulation
Predictive models
Autonomous aerial vehicles
UAVs
Adaptive Backstepping
LPV-MPC
External Disturbances
Tracking Control
- Language
Unmanned Aerial Vehicles (UAVs) now play critical roles in a wide range of real-world applications and improving their control performance has become an increasingly appealing research topic. The goal of this paper is to solve the problem of controlling UAVs subject to external disturbances to maintain the desired trajectory while ensuring reliable and rapid convergence to the actual values. This paper presents a novel approach for the design and stability analysis of an adaptive trajectory tracking control for a multi-rotor UAV. UA V controllers are divided into two parts: position controllers and attitude controllers. A new Linear Parameter Varying Model Predictive Controller (LPV -MPC) is designed for attitude controller stabilization and quick tracking of the desired values of the Euler angles. The position controller is in charge of the position variables., which are calculated using the adaptive backstepping method and the targeted reference trajectory. The Lyapunov theory is utilized to prove the stability of the UAV's position controller. Finally., simulation results are provided., which demonstrates the effectiveness of the proposed control framework against disturbances.