L1적응 제어 기법을 이용한 멀티로터 무인 항공기의 궤적 추종 기법 설계

Abstract

This paper presents a trajectory tracking controller for rotorcraft UAVs to improve the tracking performances in the presence of various uncertainties. The proposed tracking method consists of a velocity guidance law based on the relative distance and L1 adaptive augmentation loop for tracking the velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference value of the adaptive controller for accurate path tracking. In the guidance law, the desired acceleration is generated based on the relative distance and its derivatives, and then the velocity command of the inner control loop is calculated by integrating the accelerations. augmentation loop supplements the linear controller to guarantee the flight performances such as a tracking accuracy in the presence of the uncertainties. The proposed controller was validated in actual flight tests to successfully demonstrate its capability using a quadrotor UAV.