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Nonlinear Adaptive Flight Control with a Backstepping Design Approach

机译：基于Backstepping设计的非线性自适应飞行控制

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This paper examines the use of adaptive backstepping for multi-axis control of a high performance aircraft. The control law is demonstrated on a 6 Degree-of-Freedom simulation with nonlinear aerodynamic and engine models, actuator models with saturation, and turbulence. Simulation results are demonstrated for large pitch-roll maneuvers, and for maneuvers with failure of the right stabilator. There are substantial differences between the control law design and simulation models, which are used to demonstrate some robustness aspects of this control law. Actuator saturation is shown to be a considerable problem for this type of controller. However, the flexibility of the backstepping design provides opportunities for improvement. In particular, the Lyapunov function is modified so that the growth of integrated error and the rate of change of parameter growth are both reduced when the surface commands are growing at a rate that will likely saturate the actuators. In addition, the deadzone technique from robust linear adaptive control is applied to improve robustness to turbulence.

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