Design of the UAV normal acceleration RSLQR-L1 controller

The Robust Servomechanism LQR(RSLQR) is one of the modern control methods, it has the advantages of good control accuracy and less response time. However, the control effect of RSLQR controller will drop when the UAV is under large uncertain disturbance. In this paper, an RSLQR-L
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normal acceleration control method was proposed. The RSLQR-L
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controller takes RSLQR controller as main controller and takes L
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adaptive controller as assistant controller to compensate the control quality decline that caused by the uncertainties and restrain the high frequency disturbance that caused by the adaptive rate. The simulation shows the RSLQR-L
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controller can track the normal acceleration signal accurate while under the uncertain disturbance.