Abstract
For Take-off and Landing Controller of Fixed-wing Unmanned Aerial Vehicles (UAV) in the presence of strong disturbances and unknown ground effects, a High Performance L 1 Adaptive Control (HPL 1 AC) method is proposed in this paper. HPL 1 AC is based on a combination of L 1 adaptive controller and Robust Pole Assignment Controller (RPAC), where RPAC is utilized to stabilize the closed-loop system and L 1 adaptive controller is adopted to guarantee control performance under strong disturbances and unknown ground effects. In addition, BGF (Bounded-Gain Forgetting) estimator is introduced to realize time-varying adaption for adaptive gain matrix. Finally, simulation results show that the proposed HPL 1 AC Take-off and Landing Controller obtains desirable transient performance and robustness for short period dynamics of Medium-Size Transport UAV.
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