Lateral Control for Ultra-low Altitude Airdrop Based on the L1 Adaptive Control Augmentation

摘要

This paper presents a novel controller based on the L1 adaptive control to enhance the flight safety in the airdrop mission. An optimal controller produces the state feedback control signals, while a matched reference model is determined. First, we transform the system nonlinearity into the matched and unmatched uncertainty of the L1 control system. Then, leveraging the advantages of the outer loop PID controllers in the lateral deviation, we design the lateral flight control system. Simulation results reveal that the controllers present strong robustness, high adaptive gain, and suppress the undesirable high frequency dynamics.