Adaptive Optimal Flight Control for a Fixed-wing Unmanned Aerial Vehicle using Incremental Value Iteration

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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.
Original languageEnglish
Title of host publication2023 IEEE International Conference on Mechatronics
Number of pages6
ISBN (Electronic)978-1-6654-6661-5
Publication statusPublished - 2023
Event2023 IEEE International Conference on Mechatronics (ICM) - Loughborough, United Kingdom
Duration: 15 Mar 202317 Mar 2023

Publication series

NameProceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023


Conference2023 IEEE International Conference on Mechatronics (ICM)
Abbreviated titleICM 2023
Country/TerritoryUnited Kingdom

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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