Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation

摘要: Abstract In this research we consider the problem of path following control for a small fixed-wing unmanned aerial vehicle (UAV). Assuming UAV is equipped with an autopilot low level control, adopt kinematic error model respect to moving Serret-Frenet frame attached tracking controller design. A law that commands heading rate presented. Backstepping applied derive roll angle command by taking into account approximate closed-loop dynamics. parameter adaptation technique employed inaccurate time constant dynamics during actual implementation. The algorithm validated in real-time through high-fidelity hardware-in-the-loop simulation (HILS) environment showing applicability on real system.