Attitude-Tracking Control for Over-Actuated Tailless UAVs at Cruise Using Adaptive Dynamic Programming

Using adaptive dynamic programming (ADP), this paper presents a novel attitude-tracking scheme for over-actuated tailless unmanned aerial vehicles (UAVs) that integrates control and allocation while accounting nonlinearity nonaffine inputs. The proposed method uses the idea of nonlinear inversion to create an augmented system converts optimal tracking problem into regulation using discounted performance function. Drawing inspiration from incremental control, achieves by simply critic-only structure. Moreover, unique design function ensures robustness against model uncertainties external disturbances. ADP was found outperform traditional architectures separate allocation, achieving same level through more optimized approach. Furthermore, unlike many recent controllers systems, our does not require any identifiers demonstrates robustness. superiority ADP-based approach is verified two simulated scenarios, its internal mechanism further discussed. theoretical analysis stability also provided.