MRAC for H∞ tracking of TUAV based on improved AED-ADT method

This paper addresses the transition mode tracking control problem of the tilt-rotor UAV(TUAV). And a new adaptive robust control approach is proposed, leveraging the improved admissible edge-dependent average dwell time(AED-ADT) framework, which integrates the model reference adaptive control(MRAC) method with $H_{\infty }$ control technique. The TUAV’s variable structure and strong coupling result in complex aerodynamic behavior and modeling uncertainties. To resolve the aforementioned issues, an improved AED-ADT method is proposed for the first time. This method significantly relaxes the constraints on the Lyapunov functions for any two subsystems, providing a more flexible framework for the design of variable-structure aircraft control systems. Benefiting from the flexible framework, a modified MRAC is integrated to address substantial modeling uncertainties, featuring a more flexible adaptive law design. In addition, the robust $H_{\infty }$ control is introduced and combined with the improved MRAC and AED-ADT methods, which further improves the robustness of the controlled system against external disturbances. Ultimately, the simulation results presented validate the effectiveness of the proposed method.