Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive AugmentationJournal of Modeling, Simulation, Identification, and Control, Columbia International Publishing (2013)
In this paper, the performance of L1 adaptive control laws is investigated in the presence of aircraft actuator failures and atmospheric turbulence. L1 adaptive control is combined with a linear type controller and a nonlinear dynamic inversion-based outer/inner loop controller. Specific evaluation metrics are defined in terms of trajectory tracking errors and control activity during autonomous flight. Several types of trajectories with different levels of complexity are considered in this research effort. The West Virginia University unmanned aerial vehicle simulation environment is used in this analysis. The results show that the adaptive augmentation improves the tracking performance of the vehicle at nominal conditions and under a variety of abnormal flight conditions.
- Adaptive control,
- Unmanned aerial vehicle,
- Fault tolerant control
Citation InformationHever Moncayo, K Krishnamoorty, Brent Wilburn, Jeniffer Wilburn, et al.. "Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation" Journal of Modeling, Simulation, Identification, and Control, Columbia International Publishing Vol. 1 Iss. 4 (2013) p. 137 - 163
Available at: http://works.bepress.com/hever_moncayo/5/