ABSTRACT
The optimal control design of Unmanned Aerial Vehicles (UAV) is an important technology to ensure flight stability. UAV has sharp attitude variation and the airflow, causing flight stability is not good. The dynamic feedback search on flight longitudinal plane can improve the stability. A stability control algorithm for UAV is proposed based on dynamic feedback search. Firstly, a longitudinal motion mathematical model is constructed of UAV. Then, the control objective function and control constraint parameters are analysed, and an adaptive inversion pitch angle tracking method is used for integral stability functional analysis. The angular velocity is taken as the virtual control input. Adaptive dynamic feedback error tracking and search is realized in greatly attitude change. A PID adaptive control law is designed, to eliminate the effect of swinging inertia force and moment on the stability of the system. The control algorithm optimisation design is created. Finally, the simulation test is performed. The simulation results show that the stability of control is optimised, and that pose tracking and error compensation are obtained effectively. It can improve the stability during the flight, and the attitude angle tracking error can converge to zero rapidly.
