Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation

Hever Moncayo; K Krishnamoorty; Brent Wilburn; Jeniffer Wilburn; Mario Perhinschi; Brendon Lyons

doi:10.7726/jmsic.2013.1012-1

Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation

Hever Moncayo, K Krishnamoorty, Brent Wilburn, Jeniffer Wilburn, Mario Perhinschi, Brendon Lyons

Aerospace Engineering

West Virginia University

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, the performance of L1 adaptive control laws is investigated in the presence of aircraft actuator failures and atmospheric turbulence. L1 adaptive control is combined with a linear type controller and a nonlinear dynamic inversion-based outer/inner loop controller. Specific evaluation metrics are defined in terms of trajectory tracking errors and control activity during autonomous flight. Several types of trajectories with different levels of complexity are considered in this research effort. The West Virginia University unmanned aerial vehicle simulation environment is used in this analysis. The results show that the adaptive augmentation improves the tracking performance of the vehicle at nominal conditions and under a variety of abnormal flight conditions.

Original language	American English
Journal	Journal of Modeling, Simulation, Identification, and Control, Columbia International Publishing
Volume	1
DOIs	https://doi.org/10.7726/jmsic.2013.1012-1
State	Published - 2013

Keywords

Adaptive control
Unmanned aerial vehicle
Fault tolerant control

Disciplines

Aeronautical Vehicles
Systems Engineering and Multidisciplinary Design Optimization

Access to Document

10.7726/jmsic.2013.1012-1License: Unspecified

Cite this

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title = "Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation",

abstract = " In this paper, the performance of L1 adaptive control laws is investigated in the presence of aircraft actuator failures and atmospheric turbulence. L1 adaptive control is combined with a linear type controller and a nonlinear dynamic inversion-based outer/inner loop controller. Specific evaluation metrics are defined in terms of trajectory tracking errors and control activity during autonomous flight. Several types of trajectories with different levels of complexity are considered in this research effort. The West Virginia University unmanned aerial vehicle simulation environment is used in this analysis. The results show that the adaptive augmentation improves the tracking performance of the vehicle at nominal conditions and under a variety of abnormal flight conditions.",

keywords = "Adaptive control, Unmanned aerial vehicle, Fault tolerant control",

author = "Hever Moncayo and K Krishnamoorty and Brent Wilburn and Jeniffer Wilburn and Mario Perhinschi and Brendon Lyons",

year = "2013",

doi = "10.7726/jmsic.2013.1012-1",

language = "American English",

volume = "1",

journal = "Journal of Modeling, Simulation, Identification, and Control, Columbia International Publishing",

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T1 - Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation

AU - Moncayo, Hever

AU - Krishnamoorty, K

AU - Wilburn, Brent

AU - Wilburn, Jeniffer

AU - Perhinschi, Mario

AU - Lyons, Brendon

PY - 2013

Y1 - 2013

N2 - In this paper, the performance of L1 adaptive control laws is investigated in the presence of aircraft actuator failures and atmospheric turbulence. L1 adaptive control is combined with a linear type controller and a nonlinear dynamic inversion-based outer/inner loop controller. Specific evaluation metrics are defined in terms of trajectory tracking errors and control activity during autonomous flight. Several types of trajectories with different levels of complexity are considered in this research effort. The West Virginia University unmanned aerial vehicle simulation environment is used in this analysis. The results show that the adaptive augmentation improves the tracking performance of the vehicle at nominal conditions and under a variety of abnormal flight conditions.

AB - In this paper, the performance of L1 adaptive control laws is investigated in the presence of aircraft actuator failures and atmospheric turbulence. L1 adaptive control is combined with a linear type controller and a nonlinear dynamic inversion-based outer/inner loop controller. Specific evaluation metrics are defined in terms of trajectory tracking errors and control activity during autonomous flight. Several types of trajectories with different levels of complexity are considered in this research effort. The West Virginia University unmanned aerial vehicle simulation environment is used in this analysis. The results show that the adaptive augmentation improves the tracking performance of the vehicle at nominal conditions and under a variety of abnormal flight conditions.

KW - Adaptive control

KW - Unmanned aerial vehicle

KW - Fault tolerant control

UR - https://doi.org/doi:10.7726/jmsic.2013.1012-1

U2 - 10.7726/jmsic.2013.1012-1

DO - 10.7726/jmsic.2013.1012-1

M3 - Article

VL - 1

JO - Journal of Modeling, Simulation, Identification, and Control, Columbia International Publishing

JF - Journal of Modeling, Simulation, Identification, and Control, Columbia International Publishing

ER -

Performance Analysis of Fault Tolerant UAV Baseline Control Laws with L1 Adaptive Augmentation

Abstract

Keywords

Disciplines

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