This paper deals with the design of an adaptive optimal controller for a fixed-wing Unmanned Aerial Vehicle(UAV) using an incremental value iteration algorithm. The incremental model is firstly introduced to linearize a nonlinear system. The recursive least squares(RLS) identification algorithm is then used to identify the incremental model. Based on incremental control, the incremental value iteration algorithm is developed for a nonlinear optimal control problem. Moreover, this algorithm is applied to longitudinal attitude tracking of a fixed-wing unmanned aerial vehicle. Simulation results show that the designed adaptive flight controller is robust to variations in initial value of the angle of attack.
|Title of host publication||2023 IEEE International Conference on Mechatronics|
|Number of pages||6|
|Publication status||Published - 2023|
|Event||2023 IEEE International Conference on Mechatronics (ICM) - Loughborough, United Kingdom|
Duration: 15 Mar 2023 → 17 Mar 2023
|Name||Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023|
|Conference||2023 IEEE International Conference on Mechatronics (ICM)|
|Abbreviated title||ICM 2023|
|Period||15/03/23 → 17/03/23|
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