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

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.