Enhanced Data Driven Mode-free Adaptive Yaw Control of Uav Helicopter

An enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle (UAV) helicopter which is non-affine in the control input in this paper. Through dynamic linearization and observer techniques, the proposed control algorithm is only based on the pseudo-partial derivative (PPD) parameter estimation derived online from the I/O data of the yaw channel of an UAV helicopter, and Lyapunov-based stability analysis is utilized to prove all signals of close-loop control system are bounded. Compared with the traditional model free adaptive control (MFAC), the proposed enhanced MFAC algorithm can make the close-loop control system with stronger robustness and better anti-jamming ability. Finally, simulation results of the UAV yaw channel are offered to demonstrate the effectiveness of the proposed novel control technique.