{"title":"无人机控制系统中估计给定动作导数的简化微分器设计","authors":"Y. Kokunko, S. Krasnova","doi":"10.1109/RusAutoCon52004.2021.9537502","DOIUrl":null,"url":null,"abstract":"The paper considers systems for tracking an unmanned aerial vehicle under external disturbances. A combined control law is developed, which ensures invariance with respect to external disturbances in a closed system by means of linear control with saturation. Dynamic differentiators with piecewise linear correcting influences are designed to estimate unknown derivatives of given signals. The problem is considered in a deterministic setting. These differentiators are replicas of canonical virtual models with unknown inputs (their outputs are given actions) and provide estimates of the derivatives of deterministic signals with a given accuracy in a given time. The peculiarity of the proposed approach is that the dynamic order of the differentiators is lowered in comparison with the observed system. The simulation results for control system of unmanned aerial vehicle are presented.","PeriodicalId":106150,"journal":{"name":"2021 International Russian Automation Conference (RusAutoCon)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Reduced Differentiators Design to Estimate Derivatives of Given Actions in the UAV Control System\",\"authors\":\"Y. Kokunko, S. Krasnova\",\"doi\":\"10.1109/RusAutoCon52004.2021.9537502\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper considers systems for tracking an unmanned aerial vehicle under external disturbances. A combined control law is developed, which ensures invariance with respect to external disturbances in a closed system by means of linear control with saturation. Dynamic differentiators with piecewise linear correcting influences are designed to estimate unknown derivatives of given signals. The problem is considered in a deterministic setting. These differentiators are replicas of canonical virtual models with unknown inputs (their outputs are given actions) and provide estimates of the derivatives of deterministic signals with a given accuracy in a given time. The peculiarity of the proposed approach is that the dynamic order of the differentiators is lowered in comparison with the observed system. The simulation results for control system of unmanned aerial vehicle are presented.\",\"PeriodicalId\":106150,\"journal\":{\"name\":\"2021 International Russian Automation Conference (RusAutoCon)\",\"volume\":\"33 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-09-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 International Russian Automation Conference (RusAutoCon)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RusAutoCon52004.2021.9537502\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 International Russian Automation Conference (RusAutoCon)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RusAutoCon52004.2021.9537502","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Reduced Differentiators Design to Estimate Derivatives of Given Actions in the UAV Control System
The paper considers systems for tracking an unmanned aerial vehicle under external disturbances. A combined control law is developed, which ensures invariance with respect to external disturbances in a closed system by means of linear control with saturation. Dynamic differentiators with piecewise linear correcting influences are designed to estimate unknown derivatives of given signals. The problem is considered in a deterministic setting. These differentiators are replicas of canonical virtual models with unknown inputs (their outputs are given actions) and provide estimates of the derivatives of deterministic signals with a given accuracy in a given time. The peculiarity of the proposed approach is that the dynamic order of the differentiators is lowered in comparison with the observed system. The simulation results for control system of unmanned aerial vehicle are presented.