L&lt;inf&gt;1&lt;/inf&gt; adaptive control of the flying wing UAV with unknown time-varying disturbances

Xi, Ao; Zhao, Yijin

doi:10.1109/ascc.2017.8287228

Cited by 5 publications

(5 citation statements)

References 10 publications

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“…where x 1d and x 3d is the reference value of roll and yaw angles, k φ , k ψ are positive constants that satisfy the same constraint as (34). In summary, the inverse optimal control system diagram of attitude control system is shown as Fig.…”

Section: B Control Law Designmentioning

confidence: 99%

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Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Le-Phan,

Dinh,

Duc

et al. 2023

IEEE Access

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This article presents a novel design of an attitude control system for fixed-wing unmanned aerial vehicles (UAV) based on inverse optimal control theory. The unknown disturbances and model uncertainties of the UAV system are estimated using a simple linear disturbance observer. Under reasonable assumptions and a suitable parameter design method, the estimation errors are ensured to be exponentially asymptotically stable. By appending the estimation errors to the state vector and creating a proper virtual control signal, we transformed the original system into disturbance-free linear systems. Thus, inverse optimal control theory is utilized to design an attitude controller by using the backstepping technique. With theoretical results that are mathematically proven, the proposed controller not only ensures asymptotic stability but also reduces the cost function that penalizes both stabilization errors and control inputs without solving the Hamilton-Jacobi-Bellman or Hamilton-Jacobi-Isaacs equation. Finally, simulation scenarios are set up to compare the performances of the proposed scheme with those of other techniques using sliding mode control and the classic PID controller. The simulation results show that the presented inverse optimal controller (IOC) guarantees the best performance in comparison with other approaches.INDEX TERMS Fixed-wing UAV, inverse optimality, disturbance observer, Hamilton-Jacobi-Isaacs.

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Section: B Control Law Designmentioning

confidence: 99%

“…In [6], the dynamics of the UAV are learned online by a neural network, and an augmented output feedback control law is developed in which only the position and attitude of the UAV are regarded as measurably measurable. To ensure safe learning, [27], [34] proposed L 1 adaptive controller for both fixed and rotary winged UAVs.…”

Section: Introductionmentioning

confidence: 99%

Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Le-Phan,

Dinh,

Duc

et al. 2023

IEEE Access

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“…5 (c). Its objective is to maintain full lateral performance side-slip angle and course angle as well this loop is developed using a full linearized 5 th order lateral model, which provides more reliability and good performance, especially in banking dynamics [24].…”

Section: ) Control Loops Using L Acmentioning

confidence: 99%

“…It can also facilitate the improvement of command tracking for UAVs and avoid high-frequency oscillations. For a fixed-wing UAV, L AC is proposed for controlling the longitudinal motion in [24]. Further, in, [25] it was used as an outer loop controller in a cascaded loop structure for the trajectory tracking problem.…”

Section: Introductionmentioning

confidence: 99%

Unmanned Aerial Vehicle Attitude Control Using L ₁ Adaptive Controller

et al. 2021

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adaptive controllers are proposed to control fixed-wing unmanned aerial vehicle attitude for both longitudinal and lateral motions simultaneously. A full-order nonlinear model of the aircraft, where actuator dynamics are considered, is used to design the proposed controllers. The different motion objectives of the aircraft were controlled via separate control loops. Based on the gap metric concept analysis, two single-input single-output controllers were used for the longitudinal motion and one multi-input multi-output for the lateral motion. For each loop, a suitable structure adaptive controller was designed, and the coupling between the loops was treated as a time-varying uncertainty. The full-order nonlinear model with the proposed controllers was used to simulate the system to evaluate the closed-loop performance. The simulation results show that the controllers ensure that the system outputs asymptotically track the outputs of an ideal system. The overall performance of the proposed controllers is drastically improved compared to that of standard PID controllers. INDEX TERMSAttitude control, Autonomous vehicle, adaptive controller (L AC), Unmanned aerial vehicle (UAV).

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“…-управление -H-infinity control [20,21], метод динамической инверсии -Dynamic inversion [22,23], методы адаптивного управления -Adaptive control [24] и метод аналитического конструирования агрегированных регуляторов (АКАР) [25,26].…”

Section: Introductionunclassified

Combined method of synergistic synthesis spatial motion control laws UAV with a rigid wing in wind conditions disturbances

Veselov¹,

Ingabire²

2023

Proceedings of X All-Russian Scientific Conference &Amp;quot;System Synthesis and Applied Synergetics"

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This paper proposes a synergetic synthesis method for the control laws of fixed-wing unmanned aerial vehicle (UAV) for longitudinal and lateral motion in the presence of wind disturbances. The main purpose of this work is to study the behavior of UAV with synthesized synergetic control laws of longitudinal and lateral motion when they are combined together. The effectiveness of the proposed approach to the synergetic synthesis of control strategies is proved by the results of computer modeling. The developed software allows the synthesis and modeling of closed-loop UAV control systems in accordance with the proposed procedure of the method of synergetic synthesis of the control laws of longitudinal and lateral motion of UAV under the influence of wind disturbances. Ключевые слова: БПЛА с жёстким крылом, продольное движение, боковое движение, нелинейное управление; синергетическая теория управления, ветровые возмущения; инвариантное многообразие.

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L<inf>1</inf> adaptive control of the flying wing UAV with unknown time-varying disturbances

Cited by 5 publications

References 10 publications

Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Unmanned Aerial Vehicle Attitude Control Using L ₁ Adaptive Controller

Combined method of synergistic synthesis spatial motion control laws UAV with a rigid wing in wind conditions disturbances

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L<inf>1</inf> adaptive control of the flying wing UAV with unknown time-varying disturbances

Cited by 5 publications

References 10 publications

Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Inverse Optimal-Based Attitude Control for Fixed-Wing Unmanned Aerial Vehicles

Unmanned Aerial Vehicle Attitude Control Using L 1 Adaptive Controller

Combined method of synergistic synthesis spatial motion control laws UAV with a rigid wing in wind conditions disturbances

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Unmanned Aerial Vehicle Attitude Control Using L ₁ Adaptive Controller