Pitch Angle Control of UAV Based on L1Adaptive Control Law

摘要

Both L1 adaptive control law and PD control law are designed to control the pitch angle of the UAV, which contains parameter uncertainty. MATLAB software is used to simulate the both. The results show that, When the time-varying unknown parameter vector is within ± 0.4, L1 adaptive control law can always control the pitch angle of UAV well. While the PD control law only works within some range, in which the time-varying unknown state parameter changing of angle of attack, pitch angle and pitch rate are equivalent to negative feedback when they are positive, and the parameter changing of velocity is the main influencing factor in PD control system.