Adaptive nonlinear robust Control of a Novel Unconventional Unmanned Aerial Vehicle

  title={Adaptive nonlinear robust Control of a Novel Unconventional Unmanned Aerial Vehicle},
  author={Pedram Bagheri and Alejandro Ramirez-Serrano and Jeff K. Pieper},
  journal={Control. Intell. Syst.},
An adaptive nonlinear robust controller for a novel highly maneuverabledual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinea r and not originally in the control -affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control -affine form. It is assumed that the syste m is subject to unknown disturbances. Therefore, a control law enabling the… 

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