Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung

Fadjar Rahino Triputra, Bambang Riyanto Trilaksono, Trio Adiono, Rianto Adhy Sasongko, Mohamad Dahsyat


Developing a nonlinear adaptive control system for a fixed-wing unmanned aerial vehicle (UAV) requires a mathematical representation of the system dynamics analytically as a set of differential equations in the form of a strict-feedback systems. This paper presents a method for modeling a nonlinear flight dynamics of the fixed-wing UAV of BPPT Wulung in any conditions of the flight altitude and airspeed for the first step into designing a nonlinear adaptive controller. The model was formed into 10-DOF differential equations in the form of strict-feedback systems which separates the terms of elevator, aileron, rudder and throttle from the model. The model simulation results show the behavior of the flight dynamics of the Wulung UAV and also prove the compliance with the actual flight test results.


fixed-wing UAV; nonlinear flight dynamics; strict-feedback system

Full Text:



F. R. Triputra, B. R. Trilaksono, R. A. Sa-songko, and M. Dahsyat, "Longitudinal Dynamic System Modeling of a Fixed-Wing UAV towards Autonomous Flight Control System Development: A Case Study of BPPT Wulung UAV Platform," in Proc. IEEE-ICSET, Sep. 2012. crossref

M. V. Cook, Flight Dynamics Principles: A Linear Systems Approach to Aircraft Stability and Control. 2nd ed., Massachusetts: Elseivier, 2007.

R. D. Finck, “USAF Stability and Control DATCOM,� McDonnell Douglas Corp, Wright-Patterson AFB, Ohio, Final Report AFWAL-TR-83-3048, revised, April, 1978.

L. Ljung, System Identification Toolbox Users’s Guide for Use with MATLAB, The Math Works Inc., 1995

M. Krstic, I. Kanellakopoulos, and P. Kokotovic, Nonlinear and Adaptive Control Design. New York: John Wiley & Sons, Inc., 1995, pp. 87-121.

J. A. Farrell and M. M. Polycarpou, Adaptive Approximation Based Control. New Jersey: John Wiley & Sons, Inc., 2006.

J. A. Farrell, M. M. Polycarpou, and M. Sharma, "Command Filtered Backstepping", IEEE Transaction on Automatic Control, 54(6), pp. 1391-1395, June, 2009. crossref

O. Harkegard and S. T. Glad, "Flight Control Design Using Backstepping," Linkoping University, Sweden, Rep. No. LiTH-ISY-R-2323, 2001.

T. Espinoza, A. Dzul, R. Lozano, and P. Parada, "Backstepping - sliding mode controllers applied to a fixed-wing UAV," in Proc. IEEE-CERMA, May, 2013. crossref

D. K. Schmidt, Modern Flight Dynamics. int. ed., New York: McGraw-Hill, 2012, pp. 156-322.

R. W. Beard and T. W. McLain, Small Unmanned Aircraft: Theory and Practice. United Kingdom: Princeton University Press, 2012, pp. 8-38.

A. Fillipone, "Propeller Characteristics", 2.4.9, Aerospace Engineering Desk Reference. First ed., San Diego, CA: Elsevier Inc., 2009.

Article Metrics

Metrics Loading ...

Metrics powered by PLOS ALM


  • There are currently no refbacks.

Copyright (c) 2015

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.



1. Neural network and fuzzy logic-based hybrid attitude controller designs of a fixed-wing UAV
Şaban Ulus, İkbal Eski
Neural Computing and Applications  vol: 33  issue: 14  first page: 8821  year: 2021  
doi: 10.1007/s00521-020-05629-5