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Adaptive Trajectory Controller for Generic FixedWing Unmanned Aircraft

Mühlegg, Maximilian and Dauer, Johann and Dittrich, Joerg and Holzapfel, Florian (2013) Adaptive Trajectory Controller for Generic FixedWing Unmanned Aircraft. Euro GNC 2013 – 2nd CEAS Specialist Conference on Guidance, Navigation & Control, 2013-04-10 - 2013-04-12, Delft, Netherlands.

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This work deals with the construction of a nonlinear adaptive path con- troller, which is easily applicable to a multitude of fixed wing unmanned aircraft. Given a common signal interface, the adaptive flight path controller is divided into a generic part, which is common for each vehicle, and into a part, which is unique. The generic part of the control architecture bases on feedback linearization. The dynamics of the aircraft and the inversion model differ, thus introducing model un- certainties to the feedback linearized system. The effect of modeling uncertainties is reduced by the application of a concurrent learning model reference adaptive con- troller, which uses neural networks in order to approximate the uncertainty. Lever- aging instantaneous as well as stored data concurrently for adaptation ensures con- vergence of the adaptive parameters to a set of optimal weights, which minimize the approximation error. Performance and robustness against certain model uncertain- ties is shown through numerical simulation for two significantly different unmanned aircraft.

Item URL in elib:https://elib.dlr.de/81351/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Adaptive Trajectory Controller for Generic FixedWing Unmanned Aircraft
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mühlegg, MaximilianTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Dauer, JohannUNSPECIFIEDhttps://orcid.org/0000-0002-8287-2376UNSPECIFIED
Holzapfel, FlorianTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Date:10 April 2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:unmanned aircraft, control, mrac, concurrent learning
Event Title:Euro GNC 2013 – 2nd CEAS Specialist Conference on Guidance, Navigation & Control
Event Location:Delft, Netherlands
Event Type:international Conference
Event Start Date:10 April 2013
Event End Date:12 April 2013
Organizer:TU Delft
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research (old)
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems & Cabin (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Dauer, Johann C.
Deposited On:08 Mar 2013 09:36
Last Modified:24 Apr 2024 19:47

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