Adaptive quaternion control of a miniature tailsitter UAV

摘要: The miniature tailsitter is a unique aircraft with inherent advantages over typical unmanned aerial vehicles. With the capabilities of both hover and level flight, these small, portable systems can produce efficient maneuvers for enhanced surveillance autonomy little threat to surroundings system itself. Such vehicles create control challenges due two different flight regimes. These are addressed computationally adaptive quaternion algorithm. A backstepping method model cancellation consistent tracking reference attitude dynamics derived. This used in conjunction regularized data-weighting recursive least-squares algorithm on-line identification parameters. Simulation hardware results presented as validation technique.