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Nonlinear Uav Flight Control Using Command Filtered Backstepping, Brian M. Borra
Nonlinear Uav Flight Control Using Command Filtered Backstepping, Brian M. Borra
Master's Theses
The aim of this effort is to implement a nonlinear flight control architecture, specifically flight path control via command filtered backstepping, for use in AME UAS's Fury® 1500 unmanned flying wing aircraft. Backstepping is a recursive, control-effort minimizing, constructive design procedure that interlaces the choice of a Lyapunov function with the design of feedback control. It allows the use of certain plant states to act as intermediate, virtual controls, for others breaking complex high order systems into a sequence of simpler lower-order design tasks.
Work herein is a simplified implementation based on publications by Farrell, Sharma, and Polycarpou. Online approximation …