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小型无人直升机浸入–不变集自适应控制 被引量:4

Immersion and invariance adaptive control for a miniature unmanned helicopter
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摘要 本文基于浸入–不变集理论,针对小型无人直升机存在的参数不确定性问题,设计一种新型的自适应控制器.利用基于Lyapunov的分析方法和La Salle不变性原理,进行闭环系统的稳定性分析,确保无人直升机姿态角的跟踪误差全局渐进收敛,以及闭环系统的稳定性.在无人直升机姿态飞行控制实验平台上,进行了无人机姿态跟踪控制实验.实验结果表明,本文所提出的控制方法具有良好的跟踪控制效果. Considering the parametric uncertainties of a small-scaled unmanned helicopter, we develop a new adaptive controller by the immersion and invariance(II) approach. The stability of the closed-loop system is proved by using the Lyapunov based analysis and the La Salle's invariance theorem. The asymptotic convergence of the attitude tracking error is also proved. Real-time experiments are performed on a helicopter attitude control testbed; and the results validate the good performance of the proposed control scheme.
作者 姜鑫燃 鲜斌
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2015年第10期1378-1383,共6页 Control Theory & Applications
基金 天津市应用基础与前沿技术研究计划重点项目(14JCZDJC31900) 国家自然科学基金项目(60804004 90916004)资助~~
关键词 无人直升机 浸入–不变集 自适应控制 unmanned helicopter immersion and invariance adaptive control
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参考文献16

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