Wind Estimation-based Robust Flight Control for UAV with Active Maneuverability Limit

摘要

This work addresses the attitude tracking control problem for the fixed-wing unmanned aerial vehicle (UAV) under the background wind field. To estimate the velocity and acceleration of the wind, the nonlinear disturbance observer is designed for the UAV. With the estimated wind velocity, the constraints on attitude angles are specified to actively limit the maneuverability of the UAV. Using the framework of the backstepping method, the flight control law is designed to accomplish the constraint and tracking objectives. As a result, attitude angles stay within the wind velocity-dependent constraints rather than predesigned invariant ones, meanwhile, they track the guidance reference signals which are also governed by the constraints. Finally, the simulation result is presented to illustrate the effectiveness of the proposed flight control scheme.