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<p>UAV models are characterized by highly nonlinear behavior, strong coupling between longitudinal and lateral motions, and sensitivity to external disturbances and model mismatches, increasing flight control and guidance challenges. In this study, a robust attitude control algorithm for fixed-wing UAVs is developed and verified against model uncertainties and disturbances. Three different attitude control procedures are designed and analyzed with verification through simulations. A modified version of the nonlinear PI-D controller is designed to address the traditional drawbacks of the PID controller. Nonlinear control theory enhances the controller’s performance and achieves the system’s requirements. The nonlinear Dynamic Inversion (NDI) is applied, and due to its dependency on model accuracy, an incremental controller (INDI) and a modified version are designed to enhance robustness and tracking performance. Moreover, a backstepping controller (BKS) based on the Lyapunov function is applied to guarantee the system’s asymptotic stability and decrease its dependency. Incremental Backstepping (IBKS) is proposed to increase the controller’s reliability against model mismatches and external disturbances. A comparative analysis is performed with and without uncertainties to evaluate the performance of each controller and estimate the optimum one to be implemented as a stand-alone flight controller. The results from simulations and uncertainty analysis demonstrated that the IBKS controller outperformed other controllers in terms of effectiveness and capability.</p>

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Comparative analysis between nonlinear attitude controllers for small fixed-wing UAV

  • 期刊论文

  • 发表日期：

    2025年9月1日

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  • Ebrahim H. Kapeel,
  • Ehab Safwat,
  • Hossam Hendy,
  • Ahmed M. Kamel,
  • Yehia Z. Elhalwagy

摘要

UAV models are characterized by highly nonlinear behavior, strong coupling between longitudinal and lateral motions, and sensitivity to external disturbances and model mismatches, increasing flight control and guidance challenges. In this study, a robust attitude control algorithm for fixed-wing UAVs is developed and verified against model uncertainties and disturbances. Three different attitude control procedures are designed and analyzed with verification through simulations. A modified version of the nonlinear PI-D controller is designed to address the traditional drawbacks of the PID controller. Nonlinear control theory enhances the controller’s performance and achieves the system’s requirements. The nonlinear Dynamic Inversion (NDI) is applied, and due to its dependency on model accuracy, an incremental controller (INDI) and a modified version are designed to enhance robustness and tracking performance. Moreover, a backstepping controller (BKS) based on the Lyapunov function is applied to guarantee the system’s asymptotic stability and decrease its dependency. Incremental Backstepping (IBKS) is proposed to increase the controller’s reliability against model mismatches and external disturbances. A comparative analysis is performed with and without uncertainties to evaluate the performance of each controller and estimate the optimum one to be implemented as a stand-alone flight controller. The results from simulations and uncertainty analysis demonstrated that the IBKS controller outperformed other controllers in terms of effectiveness and capability.