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Robust adaptive three-dimensional trajectory tracking control scheme design for small fixed-wing UAVs.

Wenlong Yang1, Zongying Shi1, Yisheng Zhong1

  • 1Department of Automation, Tsinghua University, Beijing 100089, China.

ISA Transactions
|July 15, 2023
PubMed
Summary

This study presents a novel robust adaptive control strategy for small fixed-wing unmanned aerial vehicles to achieve precise 3D trajectory tracking despite nonlinearities and wind disturbances. The method ensures accurate navigation without needing a precise dynamic model.

Keywords:
Fixed-wing UAVHierarchical controlRobust adaptive controlSignal compensation theoryTrajectory tracking

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Area of Science:

  • Aerospace Engineering
  • Control Systems
  • Robotics

Background:

  • Small fixed-wing unmanned aerial vehicles (UAVs) face challenges in 3D trajectory tracking due to model uncertainties, nonlinearities, and external disturbances like wind.
  • Existing control strategies are often unworkable because precise dynamic models and parameters are not accessible for these UAVs.
  • Accurate trajectory tracking is crucial for UAVs to reach specified locations within given time frames for various applications.

Purpose of the Study:

  • To develop a robust adaptive control strategy for 3D trajectory tracking of small fixed-wing UAVs.
  • To address challenges posed by nonlinearities, uncertainties, and wind disturbances without requiring precise aerodynamic models.
  • To ensure the UAV reaches a specified location within a given time frame efficiently and accurately.

Main Methods:

  • Utilized feedback linearization techniques to derive linear models with equivalent disturbances, bypassing the need for precise aerodynamic force models.
  • Designed a novel robust adaptive control strategy for position control, handling input-dependent disturbance bounds.
  • Incorporated a two-time scale separation approach, comprising a position controller (horizontal-plane and altitude) and a robust filter-based attitude regulator.

Main Results:

  • Developed a practical and robust adaptive position controller that prevents chattering issues, ensuring ultimately bounded tracking errors.
  • The control scheme effectively manages nonlinearities, uncertainties, and wind disturbances in 3D trajectory tracking.
  • Theoretical stability of the closed-loop system was rigorously investigated using Lyapunov arguments.

Conclusions:

  • The proposed robust adaptive control strategy is effective for 3D trajectory tracking of small fixed-wing UAVs under challenging conditions.
  • The method demonstrates robustness and achieves precise navigation without relying on exact system dynamic models.
  • Hardware-in-loop simulations validated the performance and stability of the developed control scheme.