Adaptive Robust Control of a Tricopter with Rotary Propellers under Uncertainty and Limited Input Actions

In this paper an adaptive robust control system for a tricopter with rotary propellers is considered under conditions of uncertain coefficients of aerodynamic forces and drag moments, limitation of input actions and the action of unknown external disturbances. A nonlinear mathematical model of the dynamics of a tricopter with rotary propellers is designed, taking into account the limitation of input actions. The synthesis of an adaptive robust control system for a tricopter with rotary propellers is carried out by introducing an adaptive robust sliding control mode and a function approximation method to eliminate the influence of uncertainty and limit input actions. The method of Lyapunov functions proves the asymptotic stability of the system under conditions of uncertainty and saturation of input actions. Computer simulation of the designed tricopter control system were carried out in the MATLAB/Simulink program.