Design and flight testing of closed-loop simple adaptive control for a biplane micro air vehicle

Abstract

This article presents the implementation of closed-loop simple adaptive control on fixed-wing micro air vehicle dynamics to improve flight performance characteristics. It is known that to retain the micro air vehicle system performance during the entire flight regime is difficult due to model uncertainties, large parameter variation and wind disturbances compared to flight velocity. An adaptive controller can adapt to the uncertainties but the complexity involved in their implementation is high due to unavailability of required sensor information and computational resources on a micro air vehicle platform. Lack of flight test results in the open literature incorporating adaptive control so far can be partially attributed to this complexity. In this case, adaptive control architecture is implemented in such a way that only the uncertainties in the system dynamics are taken care of by the adaptive control and desired nominal plant performance is achieved by the basic controller. The proposed adaptive controller architecture is implemented in real flight test, and improvement of tracking performance over a proportional–integral–derivative controller is demonstrated which illustrates superior performance to conventional architectures. The proposed design approach can be implemented easily to an existing system, and system performance can be enhanced in the presence of unmodelled and uncertain system dynamics.