基于自适应预测器的输入延迟直升机系统控制:设计与实验

Siri Marte Schlanbusch, Jing Zhou
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引用次数: 0

摘要

在本文中,我们考虑了一个具有长输入延迟和不确定系统参数的 2 自由度 (DOF) 直升机系统。为解决控制设计中的未知系统参数和输入延迟等难题,我们开发了一种自适应预测反馈控制法,以实现轨迹跟踪。进一步确定了闭环系统的稳定性,证明跟踪误差趋近于零。通过对直升机系统的仿真和实验,我们证明了所提出的控制方案可以实现对理想轨迹的跟踪。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive predictor-based control for a helicopter system with input delays: Design and experiments

In this paper, we consider a 2-degrees-of-freedom (DOF) helicopter system subject to long input delays and uncertain system parameters. To address the challenges including unknown system parameters and input delays in control design, we develop an adaptive predictor-feedback control law to achieve trajectory tracking. Stability of the closed-loop system is further established, where the tracking errors are shown to converge towards zero. Through simulation and experiments on the helicopter system, we illustrate that tracking of a desired trajectory is achieved with the proposed control scheme.

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