Aiming at the problems of high-frequency oscillation easily caused by the traditional model-referenced adaptive control and the poor uncertainty and robustness of the traditional PID control model. This paper takes L1 adaptive control theory as the background and a scaled-down UAV in the laboratory as the object, first linearizes the UAV leveling to obtain the UAV longitudinal equations, then designs the pitch angle rate control law based on L1 adaptive theory, and designs a low-pass filter based on Liapunov's positive definite principle. Finally, perturbations and uncertainties are added to the model to verify the robustness and resistance to model uncertainties of the L1 adaptive control law, and compared with the traditional model-referenced adaptive and PID control methods, respectively. The results show that the designed L1 adaptive control system can still control the pitch angle rate well with the addition of disturbance and model uncertainty. And it ensures fast adaption with certain robustness and avoids the high-frequency oscillation problem brought by the traditional model-referenced adaption.
Design of Pitch Angle Rate Control Law Based on L1 Adaptive Control Theory
Lect. Notes Electrical Eng.
China Aeronautical Science and Technology Youth Science Forum ; 2022 ; Nanchang, China October 09, 2022 - October 10, 2022
Proceedings of the 10th Chinese Society of Aeronautics and Astronautics Youth Forum ; Kapitel : 14 ; 147-155
01.01.2023
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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