Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification  

作　　者：Jie Zhao Zhongjiao Shi Yuchen Wang Wei Wang 

机构地区：[1]Beijing Institute of Technology,Beijing 100081,China

出　　处：《Defence Technology（防务技术）》2024年第1期375-386,共12页Defence Technology

基　　金：partially supported by the Natural Science Foundation of China (Grant Nos.62103052,52272358);partially supported by the Beijing Institute of Technology Research Fund Program for Young Scholars。

摘　　要：This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.

关 键 词：Rotor-missile Adaptive control Parameter identification Quaternion control 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]