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CEAS EuroGNC 2022

Closed-Loop MRAC Augmented LQR with Integral Action for Quadrotor UAV under the Uncertainties
Dongwoo Lee Ph.D. candidate, Korea Advanced Institute of Science and Technology, Departement of Aerosapce Engineering, 34141, Daejeon, Republic of Korea.
Kwangwoo Jang Ph.D. candidate, Korea Advanced Institute of Science and Technology, Departement of Aerosapce Engineering, 34141, Daejeon, Republic of Korea.
Seongheon Lee Researcher, Korea Advanced Institute of Science and Technology, Departement of Aerosapce Engineering, 34141, Daejeon, Republic of Korea.
Lamsu Kim Ph.D. candidate, Korea Advanced Institute of Science and Technology, Departement of Aerosapce Engineering, 34141, Daejeon, Republic of Korea.
Hyochoong Bang Professor, Korea Advanced Institute of Science and Technology, Departement of Aerosapce Engineering, 34141, Daejeon, Republic of Korea.
Abstract:
In this paper, we propose a closed-loop model reference adaptive controller augmented Linear Quadratic Regulator to compensate for uncertainties from the payload and motor faults. When the quadrotor UAV conveys objects or transports people, parameters such as mass, moment of inertia, center of gravity, and aerodynamic coefficient significantly affect control performances. And, the actuator degradation is called loss of effectiveness, which can cause the quadrotor to crash during the mission. Firstly, we describe the mathematical model of quadrotor with the payload and motor faults. Secondly, the closed-loop model reference adaptive controller augmented Linear Quadratic Regulator enhances altitude and attitude tracking performances. Third, the reference model is designed using the Linear Quadratic Regulator (LQR) approach, and an observer-like term is added to eliminate the undesirable oscillations in the transient response. Fourth, the uniform ultimate boundedness of the proposed controller is proved by using the Lyapunov candidate function. Lastly, we compare the LQR with integral action and the proposed control scheme under the parametric uncertainties to analyze the overall performances of the proposed controller. The simulation results show that the proposed control scheme presents better performance when the payload is attached to the quadrotor than the LQR method.
Keywords: Nonlinear Control; Model Reference Adaptive Control(MRAC); Closed-loop Reference Model; Payload; Center of Gravity(CoG); Quadrotor
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Dongwoo Lee, Kwangwoo Jang, Seongheon Lee, Lamsu Kim, Hyochoong Bang: Closed-Loop MRAC Augmented LQR with Integral Action for Quadrotor UAV under the Uncertainties. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-002.
BibTeX entry:

@Incollection{CEAS-GNC-2022-002,
    authors = {Lee, Dongwoo and Jang, Kwangwoo and Lee, Seongheon and Kim, Lamsu and Bang, Hyochoong},
    title = {Closed-Loop MRAC Augmented LQR with Integral Action for Quadrotor UAV under the Uncertainties},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-002}
}