控制理论与应用2024，Vol.41Issue(12)：2295-2303,9.DOI:10.7641/CTA.2023.20314
三自由度直升机基于无模型自适应的姿态控制
Model free adaptive attitude control for a 3-DOF helicopter
摘要
Abstract
In this paper,an improvement to model free adaptive control(MFAC)method is proposed for attitude control system of a 3-DOF helicopter.MFAC is a data-driven control method and generates the control signals based on the input and output data,not relying on the system mathematical model.The existing MFAC methods based on the compact form dynamic linearized data model require the system to satisfy four assumptions,however,this paper demonstrates that the 3-DOF helicopter attitude control system satisfies all other assumptions except for Assumption 4(the corresponding controlled system output should be non-decreasing when the control input increases).Hence for the attitude control system of a 3-DOF helicopter,following improvements are made to the existing MFAC methods:i)A new output is defined as a linear combination of angle and angular velocity,and it has been proved that the redefined output satisfies Assumption 4;ii)It is proved that the linear parameter in the redefined output influences the performance of closed-loop system;iii)The input differentiation term is added to change the eigenvalue distribution of the closed-loop system and then improve the system performance.Finally,simulations as well as experiments are conducted to verify the effectiveness of the proposed scheme,respectively.关键词
无模型自适应控制/三自由度直升机/数据驱动控制/姿态控制Key words
model free adaptive control/3-DOF helicopter/data-driven control/attitude control引用本文复制引用
王介港,王向华,王向荣,张子叶,王建东..三自由度直升机基于无模型自适应的姿态控制[J].控制理论与应用,2024,41(12):2295-2303,9.基金项目
国家自然科学基金项目(62473056,62071021),山东省高等学校青年创新团队发展计划项目(2021KJ028),北京市科技新星计划项目(20230484338),北京市科技新星交叉合作课题项目(20240484539),北京邮电大学基本科研业务费新进教师项目(2024RC09)资助.Supported by the National Natural Science Foundation of China(62473056,62071021),the Science and Technology Support Plan for Youth Inno-vation of Colleges and Universities of Shandong Province of China(2021KJ028),the Beijing Nova Program(20230484338),the Beijing Nova Cross Cooperation Program(20240484539)and the New Teacher Program of BUPT(2024RC09). （62473056,62071021）
