Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind

  title={Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind},
  author={Alexandru Brezoescu and Tadeo Espinoza and Pedro Castillo and Rogelio Lozano},
  journal={Journal of Intelligent and Robotic Systems},
An adaptive backstepping approach to obtain directional control of a xed-wing UAV in presence of unknown crosswind is developed in this paper. The dynamics of the cross track error with respect to a desired trajectory is derived from the lateral airplane equations of motion. Adaptation laws are proposed to estimate the parameters of the unknown disturbances and are employed in closedloop system. The stability analysis is proved using Lyapunov theory. In addition, several simulations taking into… CONTINUE READING
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