Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

被引：42
|
作者：
MacKunis, W. [1 ]
Wilcox, Z. D. [1 ]
Kaiser, M. K. [2 ]
Dixon, W. E. [1 ]
机构：
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
[2] Mosaic Atm Inc, Leesburg, VA 20175 USA
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2010年 / 18卷 / 06期
基金：
美国国家科学基金会;
关键词：
Adaptive control; dynamic inversion (DI); Lyapunov methods; nonlinear control; robust control; ASYMPTOTIC TRACKING; DYNAMIC INVERSION; AEROELASTIC SYSTEM; ROBOT MANIPULATORS; DESIGN;
D O I：
10.1109/TCST.2009.2036835
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An output feedback (OFB) dynamic inversion control strategy is developed for an unmanned aerial vehicle (UAV) that achieves global asymptotic tracking of a reference model. The UAV is modeled as an uncertain linear time-invariant (LTI) system with an additive bounded nonvanishing nonlinear disturbance. A continuous tracking controller is designed to mitigate the nonlinear disturbance and inversion error, and an adaptive law is utilized to compensate for the parametric uncertainty. Global asymptotic tracking of the measurable output states is proven via a Lyapunov-like stability analysis, and high-fidelity simulation results are provided to illustrate the applicability and performance of the developed control law.
引用
收藏
页码：1390 / 1397
页数：8
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