Research Article
Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control
Table 1
Comparison of control performance indexes between MRAC and PID control.
| | | Indexes | Case 1 | Case 2 | Case 3 |
| | | Roll channel | | PID | | 7.4% | 11.8% | 19.2% | | (s) | 7.21 | 7.77 | 12.71 | | (s) | 3.13 | 3.14 | 3.34 | | Adaptive | | 5.2% | 5.3% | 5.3% | | (s) | 4.86 | 4.87 | 4.88 | | (s) | 2.58 | 2.58 | 2.59 |
| | | Pitch channel | | PID | | 5.9% | 7.0% | 7.2% | | (s) | 4.62 | 5.35 | 7.46 | | (s) | 2.27 | 2.45 | 3.33 | | Adaptive | | 5.9% | 6.0% | 6.7% | | (s) | 3.57 | 3.58 | 3.66 | | (s) | 1.85 | 1.85 | 1.87 |
| | | Yaw channel | | PID | | 2.8% | 3.7% | 5.4% | | (s) | 6.26 | 8.18 | 10.74 | | (s) | 4.17 | 4.61 | 5.04 | | Adaptive | | 2.1% | 2.1% | 2.1% | | (s) | 5.27 | 5.32 | 5.35 | | (s) | 3.90 | 3.89 | 3.88 |
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