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Modelling and adaptive backstepping control for TX-1570 UAV pathtracking
Cayero Becerra, Julián Francisco; Morcego Seix, Bernardo; Nejjari Akhi-Elarab, Fatiha
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
The methodology to design an aircraft longitudinal path-tracking controller is shown in this paper. First a thorough modelling process which involves the estimation of the aerodynamic and propulsion system structure and parameters is carried out. Next, the Lyapunov based backstepping methodology is applied to design a non-linear controller for the aircraft longitudinal dynamics. The used procedure ensures the convergence of the system to a reference and the robustness in presence of modelling errors. The derived controller delivers manipulated inputs for a real plant and takes into account subsystem and model constraints. Finally, the performance of the controlled system to track a realistic path is demonstrated in front of parameter uncertainty, unmodelled dynamics and adverse initial conditions.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Automatic control
Drone aircraft
UAV Modelling Backstepping control Adaptive control
Avions no tripulats
Control automàtic
info:eu-repo/semantics/publishedVersion
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