基于气动特性辨识的飞行器抗饱和自适应控制

doi:10.7527/S1000-6893.2013.0221

Abstract

Abstract:

A high maneuver flight controller using online identification of aerodynamic parameters based adaptive nonlinear model predictive control (ANMPC) is proposed for an unmanned aerial vehicle with unknown aerodynamic parameters. Firstly, an nonlinear model predictive control (NMPC) controller is designed in accordance with the feedback-linearized unmanned aerial vehicle dynamical model. The systematic handling of input and state constraint violations in a high maneuvering flight is achieved by solving an online constrained optimization problem. In this way, accomplishment of anti-windup is guaranteed. Secondly, the unknown parameter matrixes, which are formed from the unknown aerodynamic parameters in the unmanned aerial vehicle dynamic model, are identified in real time by means of a two-step method which combines the iterated extended Kalman filter (IEKF) and the recursive least square (RLS) estimation with forgetting. In the meantime, the unmanned aerial vehicle dynamical model is updated with identified aerodynamic parameters to compensate for model mismatch. In this way, robust performance of the NMPC controller is improved with updated model information. Finally, simulation results for attitude command tracking in the presence of perturbed aerodynamic parameters demonstrate that all perfor-mance requirements are satisfied and the robustness is successfully achieved by the designed controller.

Key words: flight control, aerodynamic disturbance, identification of aerodynamic characteristic, adaptive control, nonlinear model predictive control, feedback linearization

CLC Number:

V249.12

WANG Chao, ZHANG Shengxiu, ZHENG Jianfei, ZHANG Chao. Anti-windup Adaptive Control of Aircraft Based on Online Identification of Aerodynamic Characteristics[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(12): 2645-2657.

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Anti-windup Adaptive Control of Aircraft Based on Online Identification of Aerodynamic Characteristics

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