A L₁ Adaptive Control Scheme for UAV Carrier Landing Using Nonlinear Dynamic Inversion

Abstract

This paper presents a L1 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 L1 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 L1 adaptive control scheme based on nonlinear dynamic inversion.

Barrier Lyapunov function based fixed-time control for automatic carrier landing with disturbances

“…First, the landing area in carrier is typically limited, the aircraft is required to have an accurate touchdown in a zone that is about 55 feet wide and 40 feet long. 11 A small deviation will lead to a failure. Consequently, the designer wants the trajectory tracking error is within a predefined performance boundary.…”

Bulletin of the Polish Academy of Sciences: Technical Sciences

“…NDI is more convenient in a general way. An L1 adaptive controller with NDI was developed for unmanned aerial vehicle landing [23]. The inner and outer loops were respectively designed by attitude angle rates and position deviations.…”