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Robust Attitude Tracking Control for Fixed-Wing UAVs

A robust controller using airspeed information is proposed for the attitude control of fixed-wing UAVs. Firstly, to reduce the adverse effects of the changeable airspeed, the tracking error model of the UAV is obtained by utilizing the measurement of airspeed. Then a robust controller is designed to achieve desired attitude tracking performance by restraining coupling effect, parameter uncertainties and external disturbances in the attitude dynamics. The robust controller consists of a nominal controller and a robust compensator. Finally, experimental results are provided to demonstrate the effectiveness of the control algorithm and verify the availability of the controller in the real world.