IJE TRANSACTIONS C: Aspects Vol. 30, No. 12 (December 2017) 1417-1426    Article in Press

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H. Hamidi, A. Salahshoor and H. Mortazavi
( Received: July 05, 2017 – Accepted: September 08, 2017 )

Abstract    In this article, we propose a switching adaptive control for trajectory tracking of unmanned aircraft systems. The switching adaptive control method is designed to overcome the air chaos and achieve a proper tracking performance for control systems. In the suggested system, the air chaos is regarded as a finite set of uncertainties; a controller is designed for each uncertainty, and a performance signal is obtained for switching between controllers through a set of visualizers. Each sub-system is robustly stable and the hysteresis logic-based switching is used to obtain the stabilization of general system. The new system indicates more appropriate results for overcoming the air chaos compared with the back-stepping adaptive controllers. Finally, the modeling results for designed controller’s performance are presented.


Keywords    Switching control, Unmanned aircraft systems, Air chaos, Uncertainty, Logic-based switching


چکیده    در این مقاله به کنترل سوئیچینگ هواپیمای بدون سرنشین پرداخته شده است. کنترل تطبیقی سوئیچینگ برای غلبه بر اغتشاش و بدست آوردن عملکرد مناسب برای سیستم طراحی شده است. در این روش پیشنهادی، اغتشاش باد به صورت مجموعه­ای محدود از عدم قطعیت­ها در نظر گرفته شده، برای هر عدم قطعیت یک کنترل­کننده طراحی شده، سپس یک سیگنال عملکرد برای سوئیچینگ بین کنترل­کننده­ها با استفاده از مجموعه­ای از رویتگرها بدست می­آید. هر زیر سیستم پایدار بوده و برای بدست آوردن پایداری سیستم کلی، از منطق سوئیچینگ هیسترزیس استفاده شده است. در مقایسه با کنترل کننده­­های تطبیقی پسگام، نتایج مناسب­تری برای غلبه بر اغتشاش باد حاصل شده است. نتایج شبیه سازی برای نشان دادن عملکرد کنترل­کننده طراحی شده، ارائه شده است.

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