Open AccessDynamic trajectory tracking method of UAV using L1 Adaptive Control
Author(s) -
Kaizhou Xie,
Zheng Gong,
Yalei Bai
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2252/1/012048
Subject(s) - control theory (sociology) , robustness (evolution) , trajectory , nonlinear system , computer science , underactuation , controller (irrigation) , control engineering , engineering , control (management) , artificial intelligence , biochemistry , chemistry , physics , quantum mechanics , astronomy , biology , agronomy , gene
An attitude control method based on the L1 adaptive structure was proposed for the quadrotor aircraft with nonlinear, strong coupling, and underactuated characteristics during flight. Then introducing a dynamic point trajectory algorithm to solve the problem that traditional linear controller lacks robustness in the quadrotor aircraft. The adaptive controller can quickly estimate the state of the system then track and compensate for interference items. The dynamic point trajectory algorithm was able to calculate the expected trajectory and trajectory deviation of the disturbed aircraft, which improved the anti-interference ability and fault tolerance ability of the system. The simulation results indicate that the flight control system designed based on the L1 adaptive dynamic point method is qualified for achieving high-precision trajectory tracking control and the system has strong anti-interference capability and robustness in the nonlinear state.