Most applications for small unmanned aerial vehicles (sUAVs) have a critical need for appropriate position and attitude control in environments with extreme external dynamic disturbances such as wind gusts. Moreover, to maximize flight time, UAVs have to operate within strict constraints on payload and under computational efficiency. This article presents an optimized robust adaptive controller for a UAV in the presence of realistic wind gusts that are flying in an urban environment at an altitude lower than 400 ft. The position controller is based on two degree-of-freedom proportional-integral-derivative controller tuned with particle swarm optimization, while the attitude controll is based on a robust adaptive integral backstepping controller. By assuming the knowledge of the predetermined limits of the external and unstructured disruptions (for example, wind gusts) at low altitude, a guaranteed quality of transient and steady-state tracking performance were attained. The aerodynamics, wind gust model, and control modules are integrated into a six-degree-of-freedom UAV with a fully nonlinear robust adaptive controller. Optimal power is obtained for UAVs using the radial inflow model in the presence of wind gusts that are compared with the simplified model. Two case studies were performed systematically for two representative flight paths, namely, up-cruise-down and circular paths. The simulation results demonstrate the robustness and adaptive property of controllers against wind gusts. These results are useful for a variety of UAV applications, e.g. accurate trajectory tracking and autonomous waypoint navigation without loss of performance in the presence of wind disturbances under computational efficacy.

中文翻译：

---

基于抗扰的无人机优化鲁棒自适应控制器


小型无人机 (sUAV) 的大多数应用都迫切需要在阵风等极端外部动态干扰的环境中进行适当的位置和姿态控制。此外，为了最大限度地延长飞行时间，无人机必须在有效载荷和计算效率的严格限制下运行。本文介绍了一种优化的鲁棒自适应控制器，用于在城市环境中飞行高度低于 400 英尺的真实阵风情况下无人机的鲁棒自适应控制器。该位置控制器基于二自由度比例积分微分控制器采用粒子群优化进行调整，而姿态控制则基于鲁棒自适应积分反步控制器。通过假设了解低空外部和非结构化干扰（例如阵风）的预定限制，获得了瞬态和稳态跟踪性能的有保证的质量。空气动力学、阵风模型和控制模块集成到具有完全非线性鲁棒自适应控制器的六自由度无人机中。在阵风存在的情况下，使用径向流入模型获得了无人机的最佳功率，并与简化模型进行了比较。针对两种有代表性的飞行路径，即上升巡航-下降路径和环形路径，系统地进行了两个案例研究。仿真结果证明了控制器对阵风的鲁棒性和自适应性。这些结果可用于各种无人机应用，例如精确的轨迹跟踪和自主航路点导航，在计算效率下存在风扰动时不会损失性能。