Robust Adaptive Control of UCAVs
Abstract
This report describes work performed to investigate adaptive nonlinear control for UCAVs. Specifc control techniques investigated were Internal Model Principle Nonliear Output Regulation for UCAV flight control desing and aero-servo-elastic filter deisgn; and Adaptive Inverse Control for electromagnetic actuator control design for UAVs and advaced missiles. Simulation results show good command following (or reference tracking) characteristic of the Internal Model Priciple Output Regulation technique for designs of flight control and actuator control. The simulation results also show good disturbance allenuation charnctenstic of the Intemal Model Principle Output Regulation technique for aero-serve-elastic filter design. Neural Networks Adaptive Control was also evaluated in the UCAV flight control application, and similar results to those with the Internal Model Priciple Output Regulation control were observed. The Adaptive Inverrse Control technique showed some potential for comtrolling the electromagnetic actuators which contain nonilear elemets such as dead-zone, backlash, friction, and quantization errors. However, it introduced chaflering and sensitivity to the initial estimation error of the unknow parameters. The Internal Model Priciple Output Regualtion technique was also applied to the eletromagnetic actuator model and resolved the chattering and sensitivity to the parameter estimation errors.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 30, 2004
- Accession Number
- ADA427938
Entities
People
- Eugene Lavretsky
- James Ramsey
- Patrick M. McCormick
- Yutaka Ikeda
Organizations
- McDonnell Douglas