This chapter develops the concept of including adaptation of the vehicle dynamics model in the design of a control system. This has been done in the context of dynamic inversion. The resulting controller is an example of model reference adaptive control (MRAC). Simulation results for trajectory‐tracking flight of a quadrotor and a small helicopter are described. Deviations from a reference model are utilized to enable a dynamic inversion approach to adjust the controller response over time. Within the adaptive control architecture, dynamic inversion is referred to as neural network adaptive control. The universal approximation theorem for the SHL NN says that the fitting error can be bound within a compact set of states and plant inputs. Pseudocontrol hedging (PCH) can be applied to a dynamic inversion of a limited authority adaptive controller to achieve the goals. The position tracking of an aircraft is accomplished by utilizing the cascaded systems approach.
Adaptive Control with Application to Miniature Aerial Vehicles
2015-11-02
50 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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