紧格式无模型自适应控制在四旋翼飞行器中的应用  

Application of Tight Format Model-Free Adaptive Control in Quad-Rotor Aircrafts

作　　者：丁勇军 王建宏 罗熙 张金龙 DING Yongjun;WANG Jianhong;LUO Xi;ZHANG Jinlong(College of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000

出　　处：《电光与控制》2024年第6期87-93,共7页Electronics Optics & Control

基　　金：江西省自然科学基金(2023BAB201015);江西省科技厅重点项目(20202BAL202020);江西省研究生创新专项资金项目(XY2022-S155)。

摘　　要：为解决难以建立自适应离散变结构控制的受控系统数学模型问题,提出一类改进的基于紧格式离散时间非线性系统的无模型自适应控制(ICF-MFAC)方法。首先,在仅有一项时变积分项的CF-MFAC方法中加入误差反馈输出控制项,使得控制器具有在线整定内部参数的优势,提高系统的动态性能。然后,通过严格的数学推导对ICF-MFAC方法进行收敛性证明,理论分析表明,ICF-MFAC方法提高了伪偏导数估计值的利用率,加快了系统的响应速度。最后,在四旋翼飞行器中进行仿真实验,与CF-MFAC方法相比,改进的控制方法控制误差减小6.12%,且无超调、跟踪误差小,始终保持良好的控制效果和鲁棒性。To solve the problem that it is difficult to establish the mathematical model of the system controlled by adaptive discrete-variable structure,an improved model-free adaptive control method based on compact format discrete-time nonlinear system,ICF-MFAC,is proposed.Firstly,the error feedback output control item is added to the CF-MFAC method with only one time-varying integration term,so that the controller can set internal parameters online and thus improve the dynamic performance of the system.Then,the convergence of the ICF-MFAC method is proved by rigorous mathematical derivation.The theoretical analysis indicates that the ICF-MFAC method improves the utilization rate of pseudo-partial derivative estimates and accelerates the response speed of the system.Finally,simulation result of the test on quad-rotor aircraft shows that:compared with the CF-MFAC method,the control error of the improved control method is reduced by 6.12%with no overshoot and small tracking error,while the control effect and robustness are always maintained.

关 键 词：数据驱动控制 无模型自适应控制 误差反馈控制 紧格式动态线性化 收敛性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]