An adaptive parameter estimation control approach is proposed for the longitudinal control of unmanned aerial vehicle (UAV). The system model is written as the linearly-parameterized form. A novel parameter estimation framework with back-stepping technique is introduced to estimate the model parameters online. The parameter error information is derived by two different ways: auxiliary filtered variables and serial-parallel estimation model, which guarantees exponential error convergence. Besides, the first order tracking differentiator is utilized to get differentiation of virtual controller signal at each step, to avoid the problem of “explosion of complexity”. Stability analysis by Lyapunov method proves that closed-loop system achieves uniform ultimately bounded stability. Finally, A numerical simulation example is provided to validate the effectiveness of the proposed control approach.
Adaptive Parameter Estimation Control Based on Back-Stepping for UAV
Lect. Notes Electrical Eng.
2021-10-30
15 pages
Article/Chapter (Book)
Electronic Resource
English
Adaptive Parameter Estimation Control Based on Back-Stepping for UAV
British Library Conference Proceedings | 2022
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