L1 adaptive control has emerged as a powerful technique for enabling a posteriori control action given a bounded level of uncertainty and disturbance, while adhering to the appropriate bandwidth of the vehicle actuation system. In this paper, we present our recent approach to leverage the benefits of L1 with a minimally invasive approach to an existing flight control system with an input output feedback linearization method, otherwise known as dynamic inversion. We detail the design steps and the augmented equations for integrating the adaptation via two candidate methodologies, and present simulation results on a multi-input multi-output linear time invariant model of a tailless fighter. Finally, we outline observations and comparisons and conclude with planned research ahead.
L1 adaptation as a bolt-on robustifying control law to a baseline dynamic inversion system
01.03.2018
1675261 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Nonlinear Dynamic Inversion Baseline Control Law: Architecture and Performance Predictions
British Library Conference Proceedings | 2011
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