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A L_1 Adaptive Control Scheme for UAV Carrier Landing Using Nonlinear Dynamic Inversion

机译：非线性动态反演的无人机载机着陆L_1自适应控制方案

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摘要

This paper presents a L-1 adaptive controller augmenting a dynamic inversion controller for UAV (unmanned aerial vehicle) carrier landing. A three axis and a power compensator NDI (nonlinear dynamic inversion) controller serves as the baseline controller for this architecture. The inner-loop command inputs are roll-rate, pitch-rate, yaw-rate, and thrust commands. The outer-loop command inputs come from the guidance law to correct the glide slope. However, imperfect model inversion and nonaccurate aerodynamic data may cause degradation of performance and may lead to the failure of the carrier landing. The L-1 adaptive controller is designed as augmentation controller to account for matched and unmatched system uncertainties. The performance of the controller is examined through a Monte Carlo simulation which shows the effectiveness of the developed L-1 adaptive control scheme based on nonlinear dynamic inversion.
机译：本文提出了一种L-1自适应控制器，该控制器增加了用于无人机（UAV）载具着陆的动态反演控制器。三轴和功率补偿器NDI（非线性动态反演）控制器用作该体系结构的基线控制器。内环命令输入为侧倾率，俯仰率，偏航率和推力命令。外环命令输入来自制导律，以校正滑行斜率。但是，不完美的模型反演和不准确的空气动力学数据可能会导致性能下降，并可能导致航母着陆失败。 L-1自适应控制器设计为增强控制器，以解决匹配和​​不匹配的系统不确定性问题。通过蒙特卡洛仿真检查了控制器的性能，该仿真显示了基于非线性动态反演的已开发L-1自适应控制方案的有效性。

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  • 来源
    《International journal of aerospace engineering》 |2019年第2期|6917393.1-6917393.8|共8页
  • 作者

    Lu Ke; Liu Chunsheng;

  • 作者单位

    Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China|China Helicopter Res & Dev Inst, Sci & Technol Rotorcraft Aeromech Lab, Jingdezhen 333001, Jiangxi, Peoples R China;

    Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China;

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