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Victor V. Putov, Viktor N. Sheludko, Boris Andrievsky, Iuliia Zaitceva

Last modified: 2023-06-29


Tricopter is capable of vertical taking-off and landing (VTOL), hovering flight. But, contrary to multicopters with even rotors number, it has greater flight dynamics and improved maneuverability (due to built-in instability).
This paper deals with the problem of tricopter flight control. These UAVs, like other multicopters, are capable of vertical takeoff and landing (VTOL) and hovering flight. The advantage of tricopters compared to multicopters with an even number of rotors (for example, quadrocopters) is that they have greater dynamic capabilities and, due to their inherent instability, improved maneuverability. A significant problem in the control of tricopters is the uncertainty of their parameters (both initial values and their change depending on the conditions of flight and operation). In order to ensure stable system performance for various modes, signal-parametric simple adaptive control (SAC) algorithm with an implicit reference model (IRM), justified by the Passification theorem, is employed in the paper. This method has been intensively developed since the 1970s and has been successfully applied to various adaptive control problems. To cope with the controlling input saturation which may cause the windup effect for controller parameters, the following modification of the control law is suggested, which may lead to a kind of sliding motion on the bounds of the control signal. Another important problem is the time quantization (sampling) of the control process. In the paper, using a numerical example, the change in the characteristics of the system depending on the discretization period is studied and its boundary values are established. Numerous simulation results are presented that characterize the properties of the control system for various conditions.