Disturbance Error Correction Algorithm for UAV Flight Control Based on Adaptive Backstepping Integral

DOI

10.2991/ameii-16.2016.86How to use a DOI?

Keywords

UAV, control,error correction, adaptive.

Abstract

The gas dynamic features of Unmanned Aerial Vehicle (UAV) cause flight attitude control error in aerodynamic disturbances, it need for stability flight control design of UAV, to improve the UAV flight stability property. Under the condition of large disturbance, the uncertainty of parameters of flight control model is caused by the drastic change of the air resistance and other parameters of the UAV. An error correction algorithm for UAV flight control is proposed based on adaptive backstepping integral. UAV longitudinal motion model is established, and the UAV control parameter constraint model is established in velocity coordinate system and body coordinate system, ballistic coordinate and ground coordinate system. The longitudinal motion mathematical model of UAV is established. According to the principle of Lyapunove stability control, adaptive nonlinear tracking controller is designed. On the output terminal, adaptive inversion integral term is introduced, and the global asymptotic tracking error compensation is taken to improve the stability of flight control. Simulation results show that the proposed algorithm can effectively improve adaptive guidance performance of flight control, and the attitude angle error converges to zero, and the performance is better.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xing-Hua Lu
AU  - Shi-wei Zhan
AU  - Wen-quan Yu
AU  - Chen-wei Huang
PY  - 2016/04
DA  - 2016/04
TI  - Disturbance Error Correction Algorithm for UAV Flight Control Based on Adaptive Backstepping Integral
BT  - Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)
PB  - Atlantis Press
SP  - 424
EP  - 429
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-16.2016.86
DO  - 10.2991/ameii-16.2016.86
ID  - Lu2016/04
ER  -