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A Data-Driven Adaptive Method for Attitude Control of Fixed-Wing Unmanned Aerial Vehicles

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Document pages: 15 pages

Abstract: In this paper, a real-timeonline data-driven adaptive method is developed to deal with uncertainties suchas high nonlinearity, strong coupling, parameter perturbation and externaldisturbances in attitude control of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a model-free adaptive control(MFAC) method requiring only input output (I O) data and no modelinformation is adopted for control scheme design of angular velocity subsystemwhich contains all model information and up-mentioned uncertainties. Secondly,the internal model control (IMC) method featured with less tuning parametersand convenient tuning process is adopted for control scheme design of thecertain Euler angle subsystem. Simulation results show that, the method developedis obviously superior to the cascade PID (CPID) method and the nonlineardynamic inversion (NDI) method.

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