A novel trajectory tracking methodology using structured adaptive model inversion for uninhabited aerial vehicles
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abstract
Structured Adaptive Model Inversion is used for designing adaptive flight control laws to track a target reference trajectory for autonomous UAVs. An interesting feature of the whole exercise is the refinement of the mathematical model of the plant by incorporating the known structured kinematic non-linearities arising out of the gyroscopic coupling and the coriolis terms thereby rendering the plant to have an 'almost' exact nonlinear structure. For the aircraft problem, this presents us a model uncertain only in the aerodynamics, and propulsive influences. The uncertain parameters are continuously estimated using and adaptation law. Further the control law presented here realizes prescribed linear tracking error dynamics in the kinematic states' vector. The overall closed loop dynamics is non-linear in two respects, the non-linear plant itself and the non-linear adaptation process. The controller designed using SAMI enforces the desired kinematic states' error dynamics and guarantee tracking stability in the presence of model errors and unknown external disturbances. We show that the closed loop system is globally stable, although no claim can be made with regards to convergence of the adaptation parameters, as usual for controllers of this class.
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Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)
