Adaptive block backstepping control for a UAV performing lateral maneuvers under lateral c.g. uncertainty

Abstract

Unmanned aerial vehicles (UAVs) have wide applications in surveillance and reconnaissance without risking human life. Due to unbalanced payload distribution or in-flight deployment, UAVs may undergo lateral center of gravity (c.g.) variations resulting in an asymmetric dynamic having significant longitudinal and lateral/directional coupling and hence more pronounced nonlinearity. Therefore, automatic control of UAVs becomes extremely difficult when it is forced to perform maneuvers under such imbalance in lateral mass distribution. The purpose of this paper is to design adaptive nonlinear control so that the UAV can perform some useful lateral/directional maneuver under lateral c.g. uncertainty.