Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following
Unmanned Aerial Vehicles (UAVs) have become essential tools in various industries for tasks such as inspection, maintenance, and surveillance. An Online Impedance Adaptive Controller (OIAC) is proposed for the online modulating of UAV control gains to obtain better performance and stability of track...
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MDPI AG
2024-11-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/12/12/868 |
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| author | Zain Ahmed Xiaofeng Xiong |
| author_facet | Zain Ahmed Xiaofeng Xiong |
| author_sort | Zain Ahmed |
| collection | DOAJ |
| description | Unmanned Aerial Vehicles (UAVs) have become essential tools in various industries for tasks such as inspection, maintenance, and surveillance. An Online Impedance Adaptive Controller (OIAC) is proposed for the online modulating of UAV control gains to obtain better performance and stability of tracking curved trajectories than the traditional methods, Model Reference Adaptive Controller (MRAC) and Proportional–Integral–Derivative (PID). Two UAV path planners with minimal jerk and snap were integrated into OIAC, MRAC, and PID. These six controllers were implemented and compared in a simulated UAV with perceptional noise, which follows curved pipelines and avoids obstacles. Experimental results show that the OIAC controller achieves at least an 80% improvement over the PID controller across all trajectory types in terms of the trajectory tracking error. Additionally, OIAC demonstrates an over 20% improvement in jerk trajectories and a more than 30% improvement in snap trajectories when compared to the MRAC controller. These results indicate that OIAC offers enhanced trajectory tracking accuracy and robustness against perceptual noise. Our work presents an advanced controller of a UAV and its preliminary validation in accurate and robust path tracking. |
| format | Article |
| id | doaj-art-d79f0f9fa16e42a3abcd825519e7d3d4 |
| institution | Kabale University |
| issn | 2075-1702 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-d79f0f9fa16e42a3abcd825519e7d3d42024-12-27T14:37:01ZengMDPI AGMachines2075-17022024-11-01121286810.3390/machines12120868Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path FollowingZain Ahmed0Xiaofeng Xiong1Faculty of Drones and Autonomous Systems, University of Southern Denmark (SDU), 5230 Odense, DenmarkSection Biorobotics, The Mærsk Mc-Kinney Møller Institute, University of Southern Denmark (SDU), 5230 Odense, DenmarkUnmanned Aerial Vehicles (UAVs) have become essential tools in various industries for tasks such as inspection, maintenance, and surveillance. An Online Impedance Adaptive Controller (OIAC) is proposed for the online modulating of UAV control gains to obtain better performance and stability of tracking curved trajectories than the traditional methods, Model Reference Adaptive Controller (MRAC) and Proportional–Integral–Derivative (PID). Two UAV path planners with minimal jerk and snap were integrated into OIAC, MRAC, and PID. These six controllers were implemented and compared in a simulated UAV with perceptional noise, which follows curved pipelines and avoids obstacles. Experimental results show that the OIAC controller achieves at least an 80% improvement over the PID controller across all trajectory types in terms of the trajectory tracking error. Additionally, OIAC demonstrates an over 20% improvement in jerk trajectories and a more than 30% improvement in snap trajectories when compared to the MRAC controller. These results indicate that OIAC offers enhanced trajectory tracking accuracy and robustness against perceptual noise. Our work presents an advanced controller of a UAV and its preliminary validation in accurate and robust path tracking.https://www.mdpi.com/2075-1702/12/12/868adaptive controllerimpedance controlUAVtrajectory trackingsimulation |
| spellingShingle | Zain Ahmed Xiaofeng Xiong Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following Machines adaptive controller impedance control UAV trajectory tracking simulation |
| title | Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following |
| title_full | Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following |
| title_fullStr | Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following |
| title_full_unstemmed | Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following |
| title_short | Adaptive Impedance Control of Multirotor UAV for Accurate and Robust Path Following |
| title_sort | adaptive impedance control of multirotor uav for accurate and robust path following |
| topic | adaptive controller impedance control UAV trajectory tracking simulation |
| url | https://www.mdpi.com/2075-1702/12/12/868 |
| work_keys_str_mv | AT zainahmed adaptiveimpedancecontrolofmultirotoruavforaccurateandrobustpathfollowing AT xiaofengxiong adaptiveimpedancecontrolofmultirotoruavforaccurateandrobustpathfollowing |