Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control
Joint Authors
Wang, Rui
Yin, Kuilong
Zhou, Wenya
Wang, Yue-E
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-20
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Attitude dynamic model of unmanned aerial vehicles (UAVs) is multi-input multioutput (MIMO), strong coupling, and nonlinear.
Model uncertainties and external gust disturbances should be considered during designing the attitude control system for UAVs.
In this paper, feedback linearization and model reference adaptive control (MRAC) are integrated to design the attitude control system for a fixed wing UAV.
First of all, the complicated attitude dynamic model is decoupled into three single-input single-output (SISO) channels by input-output feedback linearization.
Secondly, the reference models are determined, respectively, according to the performance indexes of each channel.
Subsequently, the adaptive control law is obtained using MRAC theory.
In order to demonstrate the performance of attitude control system, the adaptive control law and the proportional-integral-derivative (PID) control law are, respectively, used in the coupling nonlinear simulation model.
Simulation results indicate that the system performance indexes including maximum overshoot, settling time (2% error range), and rise time obtained by MRAC are better than those by PID.
Moreover, MRAC system has stronger robustness with respect to the model uncertainties and gust disturbance.
American Psychological Association (APA)
Zhou, Wenya& Yin, Kuilong& Wang, Rui& Wang, Yue-E. 2014. Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-475982
Modern Language Association (MLA)
Zhou, Wenya…[et al.]. Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control. Mathematical Problems in Engineering No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-475982
American Medical Association (AMA)
Zhou, Wenya& Yin, Kuilong& Wang, Rui& Wang, Yue-E. Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-475982
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-475982