Self-Tuning Controller-Based Optimization of Fixed-Wing UAV Attitude Control

Abstract

Controllers are used in this low-cost fixed-wing unmanned aerial vehicle. We adapted the system by employing the inner and outer loop design techniques. The navigation and stabilization systems each have two external loops, which are used to maintain track of the trajectory and alter the attitude. A technique called Model Reference Adaptive Control (MRAC) design and a technique called self-tuning controller design are two approaches for creating adaptive controllers, respectively. This article describes an EVTOL UAV controller that can be used in all flight modes, including hover, cruise and partially transitioned. When flying at low to moderate speeds, a wide range of pitch angles can be used for trajectory tracking, as we demonstrate in this section. We can freely change the vehicle's pitch in order to reduce the vehicle's thrust as well as its energy consumption. For the vehicle to operate in a wide range of airspeeds, flight paths, and angles of attack, geometric attitude control and airspeed-dependent control allocation algorithms are used in combination.