An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

Dong Liang Chen; G-P Liu

doi:10.1109/ASCC.2017.8287304

An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

Dong Liang Chen, G-P Liu

Cyfadran Cyfrifiadureg, Peirianneg a Gwyddoniaeth

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion Cynhadledd › Cyfraniad i gynhadledd › adolygiad gan gymheiriaid

17 Wedi eu Llwytho i Lawr (Pure)

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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 wreiddiol	Saesneg
Teitl	2017 Asian Control Conference, ASCC 2017
Cyhoeddwr	Institute of Electrical and Electronics Engineers Inc.
Tudalennau	982-987
Nifer y tudalennau	6
Cyfrol	2018-January
ISBN (Electronig)	9781509015733
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1109/ASCC.2017.8287304
Statws	Cyhoeddwyd - 7 Chwef 2018
Digwyddiad	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Awstralia Hyd: 17 Rhag 2017 → 20 Rhag 2017

Cynhadledd

Cynhadledd	2017 11th Asian Control Conference, ASCC 2017
Gwlad/Tiriogaeth	Awstralia
Dinas	Gold Coast
Cyfnod	17/12/17 → 20/12/17

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10.1109/ASCC.2017.8287304

ChenDL-ASCC2017Llawysgrif awdur wedi’i dderbyn, 946 KB

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@inproceedings{84012c1d8edd4551a0d9ee59b02c6806,

title = "An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty",

abstract = "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.",

author = "Chen, {Dong Liang} and G-P Liu",

year = "2018",

month = feb,

day = "7",

doi = "10.1109/ASCC.2017.8287304",

language = "English",

volume = "2018-January",

pages = "982--987",

booktitle = "2017 Asian Control Conference, ASCC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2017 11th Asian Control Conference, ASCC 2017 ; Conference date: 17-12-2017 Through 20-12-2017",

}

Chen, DL & Liu, G-P 2018, An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty. yn 2017 Asian Control Conference, ASCC 2017. cyfrol. 2018-January, Institute of Electrical and Electronics Engineers Inc., tt. 982-987, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Awstralia, 17/12/17. https://doi.org/10.1109/ASCC.2017.8287304

An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty. / Chen, Dong Liang; Liu, G-P.

2017 Asian Control Conference, ASCC 2017. Cyfrol 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. t. 982-987.

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion Cynhadledd › Cyfraniad i gynhadledd › adolygiad gan gymheiriaid

TY - GEN

T1 - An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

AU - Chen, Dong Liang

AU - Liu, G-P

PY - 2018/2/7

Y1 - 2018/2/7

N2 - 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.

AB - 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.

U2 - 10.1109/ASCC.2017.8287304

DO - 10.1109/ASCC.2017.8287304

M3 - Conference contribution

AN - SCOPUS:85047550915

VL - 2018-January

SP - 982

EP - 987

BT - 2017 Asian Control Conference, ASCC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 11th Asian Control Conference, ASCC 2017

Y2 - 17 December 2017 through 20 December 2017

ER -

An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

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