Adaptive Stabilization of a PVTOL Aircraft with Uncertainties Based on Controlled Lagrangians

被引：0
|
作者：
Chen, Guanjun [1 ]
Huo, Wei [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
关键词：
PVTOL Aircraft; Adaptive Stabilization; Controlled Lagrangians; Parameter uncertainties; MECHANICAL SYSTEMS; DESIGN;
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：
An adaptive stabilization control strategy based on controlled Lagrangians for an under-actuated planar vertical take-off and landing (PVTOL) aircraft with unknown model parameters is presented in this paper. Firstly, considering the PVTOL aircraft with known model parameters, a stabilization controller designed by controlled Lagrangians is reviewed. Next, by modifying it, an adaptive continuous feedback controller for stabilizing the aircraft with unknown model parameters and a related adaptive update laws for estimating the unknown parameter are proposed. Finally, asymptotic stability of the closed-loop system is strictly proved. Numerical simulation verifies the effectiveness of the proposed controller.
引用
收藏
页码：392 / 397
页数：6
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