基于多输入多输出L1自适应理论的无人机横向控制

2021 International Conference on Intelligent Computing, Automation and Applications (ICAA) Pub Date : 2021-06-01 DOI:10.1109/ICAA53760.2021.00061

Yongshun Wang, Yue Feng, Zonghua Sun, Liaoni Wu, Bin Xi

{"title":"基于多输入多输出L1自适应理论的无人机横向控制","authors":"Yongshun Wang, Yue Feng, Zonghua Sun, Liaoni Wu, Bin Xi","doi":"10.1109/ICAA53760.2021.00061","DOIUrl":null,"url":null,"abstract":"Considering lateral-directional control of an unmanned aerial vehicle (UA V), a multi-input multi-output (MIMO) control law design method based on L1 adaptive control theory is proposed. To improve the performance of the multi-variable coupling control system, a L1 adaptive controller is introduced in the basic controller which is designed with augmented linear-quadratic regulator (LQR). Compared with the structure for single-input single-output (SISO), the L1 adaptive controller with MIMO structure shows better dynamic characteristics, tracking performance and robustness for multi-variable coupled systems. Simulation verifications both in the nominal state and maneuvering flight of the MIMO L1 adaptive control system are described.","PeriodicalId":121879,"journal":{"name":"2021 International Conference on Intelligent Computing, Automation and Applications (ICAA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"UAV lateral-directional Control Based on Multi-input Multi-output L1 Adaptive Theory\",\"authors\":\"Yongshun Wang, Yue Feng, Zonghua Sun, Liaoni Wu, Bin Xi\",\"doi\":\"10.1109/ICAA53760.2021.00061\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Considering lateral-directional control of an unmanned aerial vehicle (UA V), a multi-input multi-output (MIMO) control law design method based on L1 adaptive control theory is proposed. To improve the performance of the multi-variable coupling control system, a L1 adaptive controller is introduced in the basic controller which is designed with augmented linear-quadratic regulator (LQR). Compared with the structure for single-input single-output (SISO), the L1 adaptive controller with MIMO structure shows better dynamic characteristics, tracking performance and robustness for multi-variable coupled systems. Simulation verifications both in the nominal state and maneuvering flight of the MIMO L1 adaptive control system are described.\",\"PeriodicalId\":121879,\"journal\":{\"name\":\"2021 International Conference on Intelligent Computing, Automation and Applications (ICAA)\",\"volume\":\"27 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 International Conference on Intelligent Computing, Automation and Applications (ICAA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAA53760.2021.00061\",\"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 Conference on Intelligent Computing, Automation and Applications (ICAA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAA53760.2021.00061","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

针对无人机的横向方向控制问题，提出了一种基于L1自适应控制理论的多输入多输出(MIMO)控制律设计方法。为了提高多变量耦合控制系统的性能，在基于增广线性二次型调节器(LQR)的基本控制器中引入L1自适应控制器。与单输入单输出(SISO)结构相比，MIMO结构的L1自适应控制器对多变量耦合系统具有更好的动态特性、跟踪性能和鲁棒性。描述了MIMO L1自适应控制系统在标称状态和机动飞行下的仿真验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

UAV lateral-directional Control Based on Multi-input Multi-output L1 Adaptive Theory

Considering lateral-directional control of an unmanned aerial vehicle (UA V), a multi-input multi-output (MIMO) control law design method based on L1 adaptive control theory is proposed. To improve the performance of the multi-variable coupling control system, a L1 adaptive controller is introduced in the basic controller which is designed with augmented linear-quadratic regulator (LQR). Compared with the structure for single-input single-output (SISO), the L1 adaptive controller with MIMO structure shows better dynamic characteristics, tracking performance and robustness for multi-variable coupled systems. Simulation verifications both in the nominal state and maneuvering flight of the MIMO L1 adaptive control system are described.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2021 International Conference on Intelligent Computing, Automation and Applications (ICAA)

自引率

0.00%

发文量