Adaptive Augmentation with Exponential Command Limiting for Aerial Vehicle Attitude Protection

This paper presents an adaptive augmentation design with an exponential command limiting component for attitude protection of aerial vehicles equipped with rate control augmentation system. The baseline control law is designed using exponential potential functions for attitude protection, based on which, an adaptive augmentation is then developed to deal with disturbances and uncertainties. Stability analysis is provided for the closed-loop system to guarantee the command limiting performance in the presence of matched uncertainties. Simulation examples are presented to verify the design.