This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered.… Click to show full abstract
This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered. Firstly, dynamic inversion is employed to track attitude angles in the outer loop and ensures the rapid response. Secondly, an L1 adaptive controller for the inner loop is established to compensate for system uncertainty and uncertainty caused by actuator failures. Thirdly, the analysis of steady-state and transient performance is given by Lyapunov theory. Finally, simulation results prove the effectiveness of the proposed approach.
Journal Title: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Year Published: 2018
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