Applications of L1 adaptive control in aircraft attitude and velocity control

Changes in aircraft parameters affect the quality of flight control, often degrading control performance, even to the point of endangering flight safety. L₁ adaptive control (L1AC) has the potential to alleviate these problems, due to its ability to adapt fast while maintaining system robustness. This paper presents and compares variants of L1AC commonly used in flight control. Based on several research examples in which real flight tests were conducted, the method of implementing L1AC in fixed-wing and multirotor attitude control, as well as velocity control, is examined in detail.