Modelling and adaptive backstepping control for TX-1570 UAV pathtracking

Abstract

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.