Abstract
The design method is described for control system of unmanned aerial vehicles (UAVs) so as to have robustness against disturbances or faults of aircraft systems. Nonlinear motion of an aircraft can be expressed as combination of slow and fast dynamics by using the time scale separation technique. The extended Kalman filter (EKF) and the theory of neural networks (NN) are employed for the fast dynamics to adapt for parameter change due to faults. The command signal for the fast time scale controller is generated by applying disturbance accommodating control (DAC) theory to the slow time scale controller. In the numerical simulation, the proposed flight control system is applied to a UAV when the main wing and vertical tail surface are damaged.
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