High performance L1 adaptive control design for longitudinal dynamics of fixed-wing UAV

Author

Chunlei Di ; Qingbo Geng ; Qiong Hu ; Wenbin Wu

Author_Institution

Beijing Inst. of Technol., Beijing, China

fYear

2015

fDate

23-25 May 2015

Firstpage

1514

Lastpage

1519

Abstract

For longitudinal dynamics of Fixed-wing Unmanned Aerial Vehicle (UAV) with strong disturbance and parameter uncertainty, a new High Performance L₁ Adaptive Control (HPL₁AC) method is proposed in this paper. HPL₁AC is based on combination of Ackermann Pole Assignment Controller (APAC) and L₁ adaptive controller, where APAC is utilized to stabilize the closed-loop system and L₁ adaptive controller is adopted to guarantee control performance in the presence of parameter uncertainty. It is worth mentioning that BGF (Bounded-Gain Forgetting) estimator is introduced to realize time-varying adaption for adaptive gain matrix. Finally, simulation results show that the proposed HPL₁AC algorithm obtains desirable transient performance and robustness for shot period dynamics of F-16 UAV.

Keywords

adaptive control; autonomous aerial vehicles; closed loop systems; control system synthesis; matrix algebra; pole assignment; robot dynamics; robust control; time-varying systems; vehicle dynamics; APAC; Ackermann pole assignment controller; BGF; F-16 UAV; HPL1AC method; adaptive gain matrix; bounded-gain forgetting; closed-loop system; fixed-wing UAV; fixed-wing unmanned aerial vehicle; high performance L1 adaptive control method; longitudinal dynamics; parameter uncertainty; time-varying adaption; Adaptation models; Adaptive control; Aerodynamics; Mathematical model; Simulation; Vehicle dynamics; APAC; BGF; F-16 UAV; L1 Adaptive Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2015 27th Chinese

Conference_Location

Qingdao

Print_ISBN

978-1-4799-7016-2

Type

conf

DOI

10.1109/CCDC.2015.7162159

Filename

7162159