Flying Wing UAV Maneuver Nonlinear Backstepping Tracking Guidance and Control Design

In this paper, a nonlinear guidance/control design scheme is proposed for the characteristics of flying wing UAV. In the control loop design, an improved backstepping method is adopted to ensure the stability and robustness of the system. This method breaks through the limitation of many robust design methods that require known upper bounds of the system uncertainty norm and makes full use of the known uncertainties of the system to improve the performance of the system. In this paper, the robust adaptive function is used to eliminate the uncertainty of the system, which avoids the system singular value problem and conservatism caused by the matrix approximation method. The nonlinear tracking differentiator is introduced to overcome the problem of "Computational Explosion". In the design of the guidance loop, the concept of the virtual guidance UAV is used to provide the guidance information, and the nonlinear guidance law of the three-dimensional route is designed by the backstepping method. The coupling loop is designed in order to connect the control loop and the guidance loop and improve the robustness of the system. The simulation results show that the control scheme is reasonable and effective.