Model Parameters Estimation and Robust Roll Control with Transient Performance Constrains for Small UAV Systems

In this paper, we proposed a scheme which can online amend the controller gains caused by the inaccurate model parameters. In order to obtain accurate model parameters, we introduce an online parameter estimator. The idea of prescribed performance function (PPF) is incorporated into the control and estimation design, which can strictly guarantee both the steady-state and transient performance. Finally, comparative simulations are conducted based on rolling channel of UAV systems to validate the improved response and the robustness of the proposed scheme.