Design of Attitude Loop Controller for Six-Rotor UAV Based on L1 Adaptive Method

Abstract

As for the non-modeling dynamics of the six-rotor UAV during the modeling process, and the presence of uncertain external interferences such as crosswinds during flight, the L1 adaptive control method is used to design the attitude controller of the six-rotor UAV. The force analysis of the six-rotor UAV is performed first to establish a nonlinear dynamic model, and then the nonlinear factors and coupling terms of the model are considered as time-varying parameters and disturbances. The low-pass filter is introduced based on the traditional model reference adaptive algorithm, and the L1 adaptive attitude controller is designed to effectively suppress the high-frequency interference caused by mechanical vibrations of the aircraft. Finally, simulation results show that the algorithm has good dynamic performance and robustness while ensuring system stability.

Research on path generation and stability control method for UAV‐based intelligent spray painting of ships

“…The six‐rotor UAV of this system is mainly subjected to external forces during the spray‐painting process, including forces due to gravity, lift generated by the rotor, the reaction force of spray painting, the pulling force generated by the weight of the pipeline, and resistance between the UAV and surrounding air (Zhou et al, 2020). Although the maximum reaction force of painting will be a certain value, since the nozzle of this system changes with the curvature of the outer plate area of the ship, the direction of the reaction force of spray painting will also change to facilitate the entire UAV system.…”

$\mathcal {L}{}_{1}$ Adaptive Path-Following of Small Fixed-Wing Unmanned Aerial Vehicles in Wind

“…These characteristics make it suitable for systems subject to external time-varying disturbances, such as small UAVs motion in wind. The L 1 adaptive control has been applied for various autonomous flight control systems including fixed-wing UAVs [19]- [23] and rotorcraft UAVs [24]- [27], to cite a few.…”