Adaptive Universal Integral Regulator For Flight Control - A Preliminary Study

Resumo

This article proposes a new treatment for the design of the Universal Integral Regulator (UIR). The UIR
is a non-linear control technique based on sliding mode control with the inclusion of a Conditional Integrator (CI).
The main tuned gain of this control law is constant in the original approach, in the present work we propose to make
this gain dependent on the tracking error (adaptive gain). The performance of this change will be demonstrated in
a flight control case, performance indexes will allow to quantitatively compare its performance with the original
one. Simulations results show a superior performance of the UIR after the proposed gain modification, called at
this work as Adaptive UIR (AUIR)