Adaptive-robust Control of a Tricopter-type Unmanned Aerial Vehicle with Rotary Propellers under Uncertain Conditions

The paper considers the problem of synthesis of adaptive-robust control of the dynamics of an unmanned aerial vehicle (UAV) of an understudied to date tricopter-type design with rotary propellers under the assumption that the aerodynamic coefficients are unknown and external disturbances are immeasurable. A mathematical model of the dynamics of a tricopter with rotary propellers is designed in the form of the Lagrange-Euler equations, which allows linear (affine) parametrization with respect to the matrix of unknown parameters (Slotine J.-J.E., Li W., 1987 and 1991, or “torque calculation method”). The paper proposes a new modification of the approach based on the “torque calculation method”, which allows violation of the structural requirements for the regressor matrix (see also Meysar Zeinali, Leila Notash, 2010, and Shaghayegh Gorji, Mohammad Javad, 2017). An adaptive-robust control system is designed and the boundedness of all system signals and exponential convergence to the largest invariant set, the radius of which is determined by the values of the regularization feedbacks of the adaptation chains regularization and taking into account the expected sizes of the set of disturbances, is proved by the method of Lyapunov functions. At the final stage of the synthesis of an adaptive-robust system, which precedes its technical implementation, the report discusses the results of a computer study of the performance of the synthesized adaptive-robust system using problem-oriented application packages.