Adaptive Parameter Estimation Control Based on Back-Stepping for UAV

Zhihui Du, Jingping Shi, Zhonghua Wu, Jingchao Lu

科研成果: 书/报告/会议事项章节会议稿件同行评审

2 引用 (Scopus)

摘要

An adaptive parameter estimation control approach is proposed for the longitudinal control of unmanned aerial vehicle (UAV). The system model is written as the linearly-parameterized form. A novel parameter estimation framework with back-stepping technique is introduced to estimate the model parameters online. The parameter error information is derived by two different ways: auxiliary filtered variables and serial-parallel estimation model, which guarantees exponential error convergence. Besides, the first order tracking differentiator is utilized to get differentiation of virtual controller signal at each step, to avoid the problem of “explosion of complexity”. Stability analysis by Lyapunov method proves that closed-loop system achieves uniform ultimately bounded stability. Finally, A numerical simulation example is provided to validate the effectiveness of the proposed control approach.

源语言英语
主期刊名Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
编辑Liang Yan, Haibin Duan, Xiang Yu
出版商Springer Science and Business Media Deutschland GmbH
1829-1843
页数15
ISBN(印刷版)9789811581540
DOI
出版状态已出版 - 2022
活动International Conference on Guidance, Navigation and Control, ICGNC 2020 - Tianjin, 中国
期限: 23 10月 202025 10月 2020

出版系列

姓名Lecture Notes in Electrical Engineering
644 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Guidance, Navigation and Control, ICGNC 2020
国家/地区中国
Tianjin
时期23/10/2025/10/20

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