UAV lateral-directional Control Based on Multi-input Multi-output L1 Adaptive Theory

Abstract

Considering lateral-directional control of an unmanned aerial vehicle (UA V), a multi-input multi-output (MIMO) control law design method based on L1 adaptive control theory is proposed. To improve the performance of the multi-variable coupling control system, a L1 adaptive controller is introduced in the basic controller which is designed with augmented linear-quadratic regulator (LQR). Compared with the structure for single-input single-output (SISO), the L1 adaptive controller with MIMO structure shows better dynamic characteristics, tracking performance and robustness for multi-variable coupled systems. Simulation verifications both in the nominal state and maneuvering flight of the MIMO L1 adaptive control system are described.