An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

Dong Liang Chen, G-P Liu

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddCyfraniad i gynhadleddadolygiad gan gymheiriaid

8 Wedi eu Llwytho i Lawr (Pure)

Crynodeb

In this paper, an adaptive control allocation algorithm is proposed for nonlinear autonomous vehicles. Parameter uncertainty of effectors is considered in the design of allocation algorithm. By designing a nonlinear parameter estimator, it needs not to measure the control moments, i.e., forces and torques. Sensors and corresponding supporting devices to measure and transit the control moments are not needed, thus the overall cost of the control system is reduced, and the hardware system is simplified in implementation. Stability of the overall system is analyzed utilizing the Lyapunov method and sufficient conditions are derived. Digital simulation based on a spacecraft simulator is implemented. The results of the simulation validate the effectiveness of the control scheme.

Iaith wreiddiolSaesneg
Teitl2017 Asian Control Conference, ASCC 2017
CyhoeddwrInstitute of Electrical and Electronics Engineers Inc.
Tudalennau982-987
Nifer y tudalennau6
Cyfrol2018-January
ISBN (Electronig)9781509015733
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 7 Chwef 2018
Digwyddiad2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Awstralia
Hyd: 17 Dec 201720 Dec 2017

Cynhadledd

Cynhadledd2017 11th Asian Control Conference, ASCC 2017
Gwlad/TiriogaethAwstralia
DinasGold Coast
Cyfnod17/12/1720/12/17

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