Event Details

Adaptive control of quadrotor unmanned aerial vehicle with uncertainties

Speaker: Dr Imil Imran

Title: Adaptive control of quadrotor unmanned aerial vehicle with uncertainties

Abstract: This study investigates the real-time parameter estimation and adaptive tracking control problem for a six degrees of freedom ($6$-DOF) of quadrotor unmanned aerial vehicle (UAV) as an under-actuated system. A virtual proportional derivative (PD) is proposed to maintain position dynamics. Two adaptive control schemes are designed and compared to maintain the attitude dynamics of UAV while several parameters of UAV are unknown. In the first scheme, a classical adaptive scheme using the certainty equivalence principle is extended and designed for tracking control of the systems with unknown time-varying parameters. To improve the performance of the first scheme, a new control scheme is designed in the second scheme by proposing additional continuous functions to handle the unknown parameters. An additional robust term is designed in both schemes to handle the perturbation caused by unknown time-varying parameters. The rigorous analytical proof and numerical simulation analysis are provided to support the efficacy of the proposed controller.

Brief bio: Imil Hamda Imran received the B.S. degree in Electrical Engineering from Andalas University, Indonesia, in 2011, the M.S. degree in Systems and Control Engineering from King Fahd University of Petroleum and Minerals, Saudi Arabia, in 2015, and the Ph.D. degree in Electrical Engineering from The University of Newcastle, Australia, in 2020. He is currently a Research Associate at the Department of Engineering, Lancaster University, United Kingdom. His research interests include networked control systems, multiagent systems, nonlinear control and adaptive control.

Join: Via MS Teams