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Unmanned aerial vehicle (UAV) with asymmetric surface damage will destroy symmetry of airframe. Thus aircraft’s total mass, centroid position and aerodynamics will change suddenly, resulting a strong motion and attitude coupling between longitudinal direction and lateral direction, which intensifies the difficulty of control law design and reduces flight safety. This paper establishes the nonlinear model of damaged aircraft firstly, and then designs the longitudinal robust controller with L1-TD adaptive algorithm. Flight simulation results show that the proposed L1-TD adaptive algorithm can ensure the aircraft a stable and accurate tracking of the reference command under sudden asymmetric damage, and can adapt to sensor noise, which has great engineering application value.

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Robust Controller Design for Unmanned Aerial Vehicles with Unsymmetrical Wing Damage

  • 会议论文

  • 发表日期：

    2025年

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  • Yunyan Wu,
  • Donghui Wang,
  • Wu Liu,
  • Tianpeng Huang,
  • Sui Xu

摘要

Unmanned aerial vehicle (UAV) with asymmetric surface damage will destroy symmetry of airframe. Thus aircraft’s total mass, centroid position and aerodynamics will change suddenly, resulting a strong motion and attitude coupling between longitudinal direction and lateral direction, which intensifies the difficulty of control law design and reduces flight safety. This paper establishes the nonlinear model of damaged aircraft firstly, and then designs the longitudinal robust controller with L1-TD adaptive algorithm. Flight simulation results show that the proposed L1-TD adaptive algorithm can ensure the aircraft a stable and accurate tracking of the reference command under sudden asymmetric damage, and can adapt to sensor noise, which has great engineering application value.