Research on Lateral Unmatched Nonlinear Control of UAV Based on L1 Adaptive Control Theory

Aiming at the dimension unmatched in the lateral nonlinear control of UAV system, and the problems of high-frequency oscillation and uncertainty caused by high adaptive gain in the lateral nonlinear control of UAV in the case of traditional adaptive control method, a lateral control method of UAV Based on L1 adaptive unmatched nonlinear is proposed in this paper. Firstly, taking a scaled down UAV in the laboratory as the prototype, the lateral dynamic model of the UAV system in the case of unmatched nonlinearity is derived. Through the derivation of the lateral nonlinear model, it is designed in the form of L1 control. Then, based on L1 adaptive control theory, the state observer, adaptive gain and control law of the model are designed, and it is proved that they meet the stability conditions. Finally, the designed L1 adaptive control system is simulated and verified by a scaled down UAV in the laboratory. The results show that the designed control system can not only ensure the rapidity of the system, but also have strong robust self-adaptability, make the tracking error converge quickly and have excellent transient performance.