在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究...在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究的基础上,分别设计了L_(1)自适应控制律和比例微分(proportional derivative,PD)控制律,通过算例仿真,对比分析了这两种控制律对无人机滚转角的控制效果。结果表明,L_(1)自适应控制律具有良好的抗飞行器参数变化能力,鲁棒性强,对无人机飞行控制系统设计具有重要的参考价值。展开更多
For a linear model, let the error sequence be i.i.d, with common unknown density f(x), and (x) be a nonparametric estimator of f(x) based on the residuals. In this paper, on the basis of [1], we establish the L_1-norm...For a linear model, let the error sequence be i.i.d, with common unknown density f(x), and (x) be a nonparametric estimator of f(x) based on the residuals. In this paper, on the basis of [1], we establish the L_1-norm consistency, asymptotic normality and law of iterated logarithm for (x) under general condition. These results bring the asymptotic theory for estimation of error distributions to completion.展开更多
文摘在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究的基础上,分别设计了L_(1)自适应控制律和比例微分(proportional derivative,PD)控制律,通过算例仿真,对比分析了这两种控制律对无人机滚转角的控制效果。结果表明,L_(1)自适应控制律具有良好的抗飞行器参数变化能力,鲁棒性强,对无人机飞行控制系统设计具有重要的参考价值。
基金Project supported by the National Natural Science Foundation of China.
文摘For a linear model, let the error sequence be i.i.d, with common unknown density f(x), and (x) be a nonparametric estimator of f(x) based on the residuals. In this paper, on the basis of [1], we establish the L_1-norm consistency, asymptotic normality and law of iterated logarithm for (x) under general condition. These results bring the asymptotic theory for estimation of error distributions to completion.
