Design of σ-mod CMRAC algorithm for fixed-wing UAV

Xin Lu, Qingbo Geng, Rigen Mo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, we present a new model reference adaptive control (MRAC) for flight control system of unmanned aerial vehicle (UAV) with uncertainties. The beginning of new algorithm design is combining direct MRAC with indirect adaptive control, which is called composite model reference adaptive control (CMRAC). In the indirect part, we use a reverse filter to filter the system input. Then, we employ σ-modification to improve robustness of the flight control system. CMRAC with this kind of modification results in better tracking performance in the presence of parameter uncertainties and rapidly changing command input. Stability of the closed-loop system is formally proven by using Lyapunov theory. The effectiveness of the proposed algorithm is also illustrated through some simulations about the longitudinal dynamics of UAV.

Original languageEnglish
Title of host publication12th IEEE International Conference on Control and Automation, ICCA 2016
PublisherIEEE Computer Society
Pages413-418
Number of pages6
ISBN (Electronic)9781509017386
DOIs
Publication statusPublished - 7 Jul 2016
Event12th IEEE International Conference on Control and Automation, ICCA 2016 - Kathmandu, Nepal
Duration: 1 Jun 20163 Jun 2016

Publication series

NameIEEE International Conference on Control and Automation, ICCA
Volume2016-July
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Conference

Conference12th IEEE International Conference on Control and Automation, ICCA 2016
Country/TerritoryNepal
CityKathmandu
Period1/06/163/06/16

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