Path Following for Unmanned Aerial Vehicles Using L1 Adaptive Augmentation of Commercial Autopilots

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Author
Kaminer, Isaac
Pascoal, António
Xargay, Enric
Hovakimyan, Naira
Cao, Chengyu
Dobrokhodov, Vladimir
Date
2010Metadata
Show full item recordAbstract
The paper presents a three-dimensional path-following control algorithm that expands the capabilities of
conventional autopilots, which are normally designed to provide only guidance loops for waypoint navigation.
Implementation of this algorithm broadens the range of possible applications of small unmanned aerial vehicles. The
solution proposed takes explicit advantage of the fact that normally these vehicles are equipped with autopilots
stabilizing the vehicles and providing angular-rate tracking capabilities. Therefore, the overall closed-loop system
exhibits naturally an inner–outer (dynamics–kinematics) control loop structure. The outer-loop path-following
control law developed relies on a nonlinear control strategy derived at the kinematic level, while the inner-loop
consisting of the autopilot together with an L1 adaptive augmentation loop is designed to meet strict performance
requirements in the presence of unmanned aerial vehicle modeling uncertainty and environmental disturbances. A
rigorous proof of stability and performance of the path-following closed-loop system, including the dynamics of the
unmanned aerial vehicle with its autopilot, is given. The paper bridges the gap between theory and practice and
includes results of extensive flight tests performed in Camp Roberts, California, which demonstrate the benefits of the
framework adopted for the control system design.
Description
The article of record as published may be located at http://dx.doi.org/10.2514/1.42056
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