Constrained Adaptive Backstepping Controller Design for Aircraft Landing in Wind Disturbance and Actuator Stuck

Abstract

An adaptive backstepping controller is designed for the automatic landing of a fixed-wing aircraft. The backstepping control scheme is adopted by using the nonlinear six degree-of-freedom dynamics of the aircraft during the landing phase. The adaptive law is integrated along with the backstepping controller in order to estimate the aircraft modeling errors as well as the external disturbance. The dynamic constraints of the states and the actuator inputs are taken into account in the parameter adaptation. This is done to prevent an aggressive adaptation and to provide reliable control commands. Numerical simulations were performed to verify the performance of the proposed control law for the landing of the aircraft with the presence of gust and actuator stuck.

Control and tracking of longitudinal dynamics of UAVs in synchronized motion

“…Several studies have been done in the flight control of UAVs like constraint forces approach [l],3D potential field approach [2],intelligent management control approach [3],co operative control [4], [5],vision based scheme [6],constrained adaptive backstepping approach [7] etc. There are several tracking control schemes available in literature.…”

A Ground-Based Near Infrared Camera Array System for UAV Auto-Landing in GPS-Denied Environment

“…Several methods of the control of the UAV have been developed, such as PID control [ 2 ], backstepping [ 3 , 4 , 5 ], control [ 6 ], sliding mode control [ 7 ], fuzzy control [ 8 ], and model based fault tolerant control [ 9 ]. The traditional navigation systems for landing which have been on the UAV mainly include Inertial Navigation System (INS), Global Position System (GPS), INS/GPS combined navigation system, Global Navigation Satellite System (GNSS) and so on [ 10 ].…”

Control of uncertain nonlinear systems using mixed nonlinear damping function and backstepping techniques

“…Backstepping technique has emerged as one of powerful tools for stabilizing nonlinear systems in the presence of matched or unmatched uncertainties. For instance, the backstepping technique has been improved in term of robustness and adaptability to control spacecraft [1][2], aircraft landing pattern [3], ship course control [4] and tracking control of planar manipulator [5]. The integration of backstepping with sliding mode approach is also feasible to obtain robustness.…”