TY - GEN
T1 - Design of σ-mod CMRAC algorithm for fixed-wing UAV
AU - Lu, Xin
AU - Geng, Qingbo
AU - Mo, Rigen
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/7
Y1 - 2016/7/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84979775157&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2016.7505312
DO - 10.1109/ICCA.2016.7505312
M3 - Conference contribution
AN - SCOPUS:84979775157
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 413
EP - 418
BT - 12th IEEE International Conference on Control and Automation, ICCA 2016
PB - IEEE Computer Society
T2 - 12th IEEE International Conference on Control and Automation, ICCA 2016
Y2 - 1 June 2016 through 3 June 2016
ER -