An adaptive control allocation algorithm for nonlinear vehicles with parameter uncertainty

Dong Liang Chen, G-P Liu

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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.

Original languageEnglish
Title of host publication2017 Asian Control Conference, ASCC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages982-987
Number of pages6
Volume2018-January
ISBN (Electronic)9781509015733
DOIs
Publication statusPublished - 7 Feb 2018
Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
Duration: 17 Dec 201720 Dec 2017

Conference

Conference2017 11th Asian Control Conference, ASCC 2017
Country/TerritoryAustralia
CityGold Coast
Period17/12/1720/12/17

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