RISE-Based Adaptive Control with Mass-Inertia Parameter Estimation for Aerial Transportation of Multi-Rotor UAVs

TL;DR

This paper introduces an adaptive control method with RISE and mass-inertia estimation for multi-rotor UAVs, improving tracking accuracy and disturbance rejection in aerial transportation tasks.

Contribution

It develops a novel adaptive control strategy combining RISE-based control with finite-time mass-inertia parameter estimation for UAVs.

Findings

Enhanced tracking performance over traditional methods

Effective disturbance rejection demonstrated in simulations

Finite-time convergence of parameter estimates achieved

Abstract

This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly parameterized form. Subsequently, a cascade controller with the robust integral of the sign of the error (RISE) terms is applied to smooth the control inputs and address bounded disturbances. Then, adaptive estimation laws for mass-inertia parameters are designed based on a filter operation. Such operation is introduced to extract estimation errors exploited to theoretically guarantee the finite-time (FT) convergence of estimation errors. Finally, simulations are conducted to verify the effectiveness of the designed controller. The results show that the proposed method provides better tracking and estimation performance than traditional adaptive controllers based on sliding mode control algorithms and gradient-based estimation strategies.