%0 Journal Article %A GAO Xiaoguang %A ZHANG Kun %T Adaptive tracking control for unmanned aerial vehicle's three dimensional trajectory %D 2016 %R 10.11772/j.issn.1001-9081.2016.09.2631 %J Journal of Computer Applications %P 2631-2635 %V 36 %N 9 %X Concerning the problem of trajectory tracking control for an Unmanned Aerial Vehicle (UAV) when the nominal values of autopilot parameters deviate from the actual values, a three-dimensional trajectory adaptive tracking control law was proposed. First, with no parameter deviation of autopilot parameters, a guidance law was derived and commands were obtained for the UAV's airspeed, track angle and flight-path angle. Global asymptotic stability of the closed-loop tracking system was proved by Lyapunov stability theory. Then regarding the deviation of autopilot parameters, a parameter adaption algorithm was designed to estimate the actual autopilot parameters online, and an adaptive tracking control law for UAV's three-dimensional trajectory was obtained. Simulation results show that the proposed adaptive tracking control law can achieve UAV's three-dimensional trajectory tracking effectively in spite of autopilot parameter deviation. %U http://www.joca.cn/EN/10.11772/j.issn.1001-9081.2016.09.2631