An Adaptive Control Allocation Algorithm for Nonlinear Vehicles with Parameter Uncertainty

被引：0
|
作者：
Chen, Dong-liang [1 ]
Liu, Guo-ping [2 ,3 ]
机构：
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Heilongjiang, Peoples R China
[2] Univ South Wales, Sch Engn, Pontypridd CF37 1DL, M Glam, Wales
[3] Harbin Inst Technol, CTGT Ctr, Harbin 150001, Heilongjiang, Peoples R China
来源：
2017 11TH ASIAN CONTROL CONFERENCE (ASCC) | 2017年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：982 / 987
页数：6
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