Robust Adaptive Backstepping Design for Unmanned Aerial Vehicle Formation Guidance and Control
Received date: 2011-06-21
Revised date: 2012-02-24
Online published: 2012-09-25
A robust adaptive backstepping method is proposed for a generic uncertain system, and its application to integrated guidance and control for unmanned aerial vehicle (UAV) formation flight studied. The unmodeled dynamics are compensated by an adaptive neural network. Boundedness of tracking errors is proved by the Lyapunov theory. The leader-follower formation flight guide and control strategy is introduced. An integrated guidance and control law of the UAV formation flight is designed based on the adaptive backstepping and dynamic inversion. A six-degree-of-freedom nonlinear simulation shows that the follower can robustly track the leader with uncertain maneuvering.
LI Xue-song1, LI Ying-hui1, LI Xia2, LI Chao-xu1, GUO Chuang1 . Robust Adaptive Backstepping Design for Unmanned Aerial Vehicle Formation Guidance and Control[J]. Journal of Applied Sciences, 2012 , 30(5) : 552 -558 . DOI: 10.3969/j.issn.0255-8297.2012.05.018
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