In this paper, a real-time online data-driven adaptive method is developed to\ndeal with uncertainties such as high nonlinearity, strong coupling, parameter\nperturbation and external disturbances in attitude control of fixed-wing unmanned\naerial vehicles (UAVs). Firstly, a model-free adaptive control (MFAC)\nmethod requiring only input/output (I/O) data and no model information is\nadopted for control scheme design of angular velocity subsystem which contains\nall model information and up-mentioned uncertainties. Secondly, the\ninternal model control (IMC) method featured with less tuning parameters\nand convenient tuning process is adopted for control scheme design of the\ncertain Euler angle subsystem. Simulation results show that, the method developed\nis obviously superior to the cascade PID (CPID) method and the\nnonlinear dynamic inversion (NDI) method.
Loading....