Modelling and adaptive backstepping control for TX-1570 UAV pathtracking
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The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and parameters is carried out. Next, the Lyapunov based backstepping methodology is applied to design a non-linear controller for the aircraft longitudinal dynamics. The used procedure ensures the convergence of the system to a reference and the robustness in presence of modelling errors. The derived controller delivers manipulated inputs for a real plant and takes into account subsystem and model constraints. Finally, the performance of the controlled system to track a realistic path is demonstrated in front of parameter uncertainty, unmodelled dynamics and adverse initial conditions.
CitationCayero, J.; Morcego, B.; Nejjari, F. Modelling and adaptive backstepping control for TX-1570 UAV pathtracking. "Aerospace science and technology", 22 Octubre 2014, núm. 39, p. 342-351.