An adaptive control allocator for autonomous vehicles with parameter uncertainty

Dong Liang Chen*, G-P Liu

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Cyfraniad at gyfnodolynErthygladolygiad gan gymheiriaid

21 Wedi eu Llwytho i Lawr (Pure)

Crynodeb

In this article, an adaptive control allocation scheme for a class of nonlinear vehicles is proposed. The parameter uncertainty of the effectors is considered in the design of the control allocation algorithm. A reference model is integrated in the framework to overcome the negative effects brought by the parameter uncertainty. The optimum of the solution is discussed for a class of objectives. Stability proof is given. Compared to most existing methods, the conditions to guarantee the stability of the system are relaxed, which is addressed in the theoretical analysis and the experiment. Finally, a digital simulation and an experiment based on a spacecraft simulator are implemented. The results of the simulation and the experiment validate the effectiveness and advantages of the proposed adaptive control allocator.

Iaith wreiddiolSaesneg
CyfnodolynProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Cyfrol232
Rhif cyhoeddi7
Dyddiad ar-lein cynnar1 Ebr 2018
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsE-gyhoeddi cyn argraffu - 1 Ebr 2018

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