Immersion and Invariance Based Adaptive Control of Three Dimensional Autonomous Vehicle Maneuvers

In this paper, we focus on the three dimensional motion control of autonomous vehicles controlled by body frame fixed control signals, to track specified desired trajectories. Since the trajectories are specified in the inertial frame and the control signals to be generated are in the body frame, such a motion control task depends on measurement of the Euler angles defining the relation between body and inertial frames using the navigation equipment mounted on the vehicles. The measurements provided by this equipment carry noises, which bring parametric uncertainty to the corresponding motion kinematics. We design an adaptive controller to perform the motion control task mentioned above, paying attention to the parametric uncertainties caused by measurement noises, employing a recently developed immersion and invariance based scheme. We provide simulation results demonstrating the performance of the adaptive controller and discuss application in formation control of autonomous multi-agent systems.