基于反馈线性化的无人直升机参数估计与自适应控制

The Parameters Estimate and Adaptive Control of Helicopter Based on Feedback Linearization

研究了一种无人直升机的自适应反馈线性化控制方法。正常情况下基于反馈线性化的控制必须系统模型已知,而本研究所采用的自适应反馈线性化却不受该条件限制,它采用近似稳定模型来替代被控系统中参数不确定部分,该算法的实现充分结合了反馈线性化技术和自适应控制方法的优点,自适应控制法则会在控制器参数不确定时引导其逐步逼近其期望值,从而使得参与控制计算的参考模型和系统模型相互匹配,最终收敛后的控制器参数可消除系统模型未知参数带来影响。

An adaptive feedback linearization approach to derive helicopter is presented. Ideal feedback linearization is defined for the cases when the system model is known. The proposed adaptive feedback linearization is employed to get asymptotically exact cancellation for the inherent uncertainty in the knowledge of the given parameters of system. The control algorithm is implemented with the feedback linearization technique and adaptive method. The controller parameters are unknown where an adaptive control law aims to drive them towards their ideal value for providing perfect model matching between the reference model and the closed-loop plant model. The converged parameters of controller will then provide good estimate for the unknown plant parameters.