L1 adaptive augmented dynamic inversion controller for a high agility UAV

Markus Geiser, Enric Xargay, Naira Hovakimyan, Thomas Bierling, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents an £1 adaptive controller with piecewise-constant adaptation law augmenting a dynamic inversion PI error controller for the FSD ExtremeStar, a high agility UAV with a large number of control devices. A three axis nonlinear dynamic inversion controller serves as the baseline controller for this architecture with roll-rate, pitch-rate and yaw-rate as inner loop command inputs. The outer loop of the controller is driven by the same type of commands, but it interposes a maneuver coordination and attitude correction before passing the signals to the inner loop. The state predictor of the £1 architecture is modified in order to prevent the attempt of adaptive compensation of system inherent physical limitations. This paper first presents the baseline controller followed by a thorough description of the £1 adaptive controller. Results are presented via a full-scale, nonlinear simulation of the FSD ExtremeStar under adverse conditions.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011


OtherAIAA Guidance, Navigation and Control Conference 2011
Country/TerritoryUnited States
CityPortland, OR

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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