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基于同步的多旋翼无人机非线性模型自适应参数辨识
Alternative TitleSynchronization based adaptive parameter identification for nonlinear modeling of multi-rotor unmanned aerial vehicles
江紫亚; 何玉庆; 韩建达
Department机器人学研究室
Source Publication控制理论与应用
ISSN1000-8152
2017
Volume34Issue:7Pages:867-874
Indexed ByEI ; CSCD
EI Accession number20174704430889
CSCD IDCSCD:6095778
Contribution Rank1
Funding Organization国家自然科学基金项目(61433016, 61305120)资助.
Keyword同步 自适应参数辨识 无人机 非线性系统
Abstract针对多旋翼无人机的非线性模型,提出了一种基于同步理论的自适应参数辨识方法.其主要思想是通过设计一种“从系统”,在实现状态与原有非线性系统同步的同时,设计自适应更新率,使得对参数的估计收敛到真值.所提方法能够适用于以非线性形式存在的参数,其渐近稳定性由李雅普诺夫方法和拉塞尔不变性原理予以证明.仿真实例可以验证,合理选择自适应增益,即便真值发生突变,所提方法也能保证估计值快速收敛到最新的真值.
Other AbstractA synchronization based adaptive parameter identification approach is proposed for the nonlinear modelof multi-rotor unmanned aerial vehicles (MUAVs). During the identification, a slave dynamic structure is designed tosynchronize 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’sstability 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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21127
Collection机器人学研究室
Corresponding Author何玉庆
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
江紫亚,何玉庆,韩建达. 基于同步的多旋翼无人机非线性模型自适应参数辨识[J]. 控制理论与应用,2017,34(7):867-874.
APA 江紫亚,何玉庆,&韩建达.(2017).基于同步的多旋翼无人机非线性模型自适应参数辨识.控制理论与应用,34(7),867-874.
MLA 江紫亚,et al."基于同步的多旋翼无人机非线性模型自适应参数辨识".控制理论与应用 34.7(2017):867-874.
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