Synchronization based adaptive parameter identification for nonlinear modeling of multi-rotor unmanned aerial vehicles

被引：0
|
作者：
Jiang Z.-Y. [1 ,2 ]
He Y.-Q. [1 ]
Han J.-D. [1 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, Liaoning
[2] University of Chinese Academy of Sciences, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2017年 / 34卷 / 07期
基金：
中国国家自然科学基金;
关键词：
Adaptive parameter estimation; Nonlinear systems; Synchronization; Unmanned aerial vehicle (UAV);
D O I：
10.7641/CTA.2017.60955
中图分类号：
学科分类号：
摘要：
A synchronization based adaptive parameter identification approach is proposed for the nonlinear model of multi-rotor unmanned aerial vehicles (MUAVs). During the identification, a slave dynamic structure is designed to synchronize with the MUAV's response. Meanwhile, the estimated parameters converge to their real values according to the designed adaptive laws. The highlight here is that the parameters can't be rewritten in linearized format. Lyapunov's stability theorem and LaSalle's invariance principle are utilized to assure performance. To validate the proposed method, simulation results are carried out and it is shown that the estimated parameters with proper selection of adaptive gains can converge to their real values quickly even if they were changed during the simulation. © 2017, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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收藏
页码：867 / 874
页数：7
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