Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effec...

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Bibliographic Details
Published in:Journal of vibration and control 2023-02, Vol.29 (3-4), p.571-581
Main Authors: Lee, Ji-Won, Xuan-Mung, Nguyen, Nguyen, Ngoc Phi, Hong, Sung Kyung
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Algorithms
Altitude
Altitude control
Closed loops
Control algorithms
Control theory
Dynamic stability
Feedback control
Flight control
Flight control systems
Mathematical models
Parameter uncertainty
Proportional integral derivative
Sliding mode control
Stability analysis
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Summary:In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effect, can severely degrade the quadcopter’s altitude control performance. Meanwhile, widely used controllers like the proportional-integral-derivative control cannot guarantee control performance when the system is critically affected by factors that exhibit a high degree of variability with time. In this paper, an adaptive control algorithm is proposed to improve quadcopter altitude tracking performance in the presence of both the ground effect and a time-varying payload. First, we derive an adaptive altitude control algorithm using the sliding mode control technique to account for these uncertainties in the quadcopter dynamics model. Second, we apply Lyapunov theory to analyze the stability of the closed-loop system. Finally, we conduct several numerical simulations and experiments to validate the effectiveness of the proposed method.
ISSN:1077-5463
1741-2986
DOI:10.1177/10775463211050169