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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Abstract
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/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||
Title: | Adaptive Trajectory Controller for Generic FixedWing Unmanned Aircraft | ||||||||||||||||||||
Authors: |
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Date: | 10 April 2013 | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
Status: | Accepted | ||||||||||||||||||||
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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