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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    L1 adaptive dynamic inversion attitude control for unmanned aerial vehicle with actuator failures


    Contributors:
    Zhou, Yan (author) / Liu, Huiying (author) / Guo, Huijuan (author) / Duan, Xiaojun (author)


    Publication date :

    2019-09-01


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Two Reconfigurable Control Allocation Schemes for Unmanned Aerial Vehicle Under Stuck Actuator Failures

    Zhou, Q.-L. / Zhang, Y. / Rabbath, C.-A. et al. | British Library Conference Proceedings | 2010


    Aerial unmanned aerial vehicle with variable attitude

    FEI JIANHAO | European Patent Office | 2023

    Free access

    Two Reconfigurable Control Allocation Schemes for Unmanned Aerial Vehicle under Stuck Actuator Failures

    Zhou, Qing-Li / Zhang, Youmin / Rabbath, Camille-Alain et al. | AIAA | 2010


    Attitude control system of unmanned aerial vehicle

    LIANG JIMIN / ZHAO GANG / WANG WEIJUN et al. | European Patent Office | 2020

    Free access