This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered. Firstly, dynamic inversion is employed to track attitude angles in the outer loop and ensures the rapid response. Secondly, an L1 adaptive controller for the inner loop is established to compensate for system uncertainty and uncertainty caused by actuator failures. Thirdly, the analysis of steady-state and transient performance is given by Lyapunov theory. Finally, simulation results prove the effectiveness of the proposed approach.
L1 adaptive dynamic inversion attitude control for unmanned aerial vehicle with actuator failures
01.09.2019
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2010
|Aerial unmanned aerial vehicle with variable attitude
Europäisches Patentamt | 2023
|