Adaptive Altitude Hold of a Small UAV with Switching Adaptation Laws

摘要

In this paper an altitude hold controller of a small fixed wing UAV is presented, designed with output feedback L_1 adaptive control with switching adaptation law. The adaptive architecture is based on the estimated state as a substitute of full state knowledge. Simulation results on a real-time test bench show robustness of the adaptive controller to large uncertainties and disturbances which may act on the UAV.