Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

Abstract

This article proposes a composite path following controller that allows the small fixed-wing unmanned aerial vehicle to follow a predefined path. Assuming that the vehicle is equipped with an autopilot for altitude and airspeed maintained well, the controller design adopts the hierarchical control structure. With the inner-loop controller design based on the notion of active disturbance rejection control which will respond to the desired roll angle command, the core part of the outerloop controller is designed based on Lyapunov stability theorem to generate the desired course rate for the straight-line paths. The bank to turn maneuver is used to transform the desired course rate to the desired roll angle command. Both the hardware-in-the-loop simulation in the X-Plane simulator and actual experimental flight tests have been successfully achieved, which verified the effectiveness of the proposed method.

A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

“…(18) and including the PD-like controller for the angular acceleration on the z axis as defined in Eq. (19).…”

“…Experimental results show good performance under wind disturbances. [19] presents another path following application for a fixedwing vehicle that also takes into account wind disturbances by including an Active Disturbance Rejection Control (ADRC) for the attitude inner-loop combined with the Lyapunov-based control for the outer-loop. Experimental flight tests verify the effectiveness of this method.…”

Stability of Digital Control System for Unmanned Aerial Vehicle with Numerical Analysis

“…The fixed wing structural design has been preferred as it is tranquil to preserve than a unadventurous aircraft, and supplementary strong in circumstance of devastating. Customarily the tail agonize the wickedest portion, as the association to the central frame is fragile [3][4][5].…”

Control of longitudinal flight dynamics of a fixedwing UAV using LQR, LQG and nonlinear control

“…Moreover, nonlinear control of fixed-wing UAVs has attracted considerable research efforts during recent years both for civilian and military purposes. The control approaches developed for such systems include backstepping [10], nonlinear model predictive control (NMPC) [11], sliding modes control (SMC) [12], nested saturation [13], fuzzy control [14], H∞ control [15], dynamic inversion based control [16], model reference adaptive control [17], etc.…”