Uncertainty and Disturbance Estimator-Based Control of a Flapping-Wing Aerial Vehicle With Unknown Backlash-Like Hysteresis
文献类型：期刊论文
| 作者 | Yin, Zhao1,2; He, Wei1,2; Kaynak, Okyay1,2,3; Yang, Chenguang4; Cheng, Long5 ; Wang, Yu5
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2020-06-01 |
| 卷号 | 67期号:6页码:4826-4835 |
| 关键词 | Routing Routing protocols Databases Servers Resilience Advertising Backlash flapping-wing aerial vehicle (FWAV) hysteresis uncertainty and disturbance estimator (UDE) |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2019.2926055 |
| 通讯作者 | He, Wei(weihe@ieee.org) |
| 英文摘要 | Robust and accurate control of a flapping-wing aerial vehicle (FWAV) system is a challenging problem due to the existence of backlash-like hysteresis nonlinearity. This paper proposes uncertainty and disturbance estimator (UDE)-based control with output feedback for FWAV systems. The approach enables the acquisition of the approximate plant model with only a partial knowledge of system parameters. For the design of the controller, only the bandwidth information of the unknown plant model is needed, which is available through the UDE filter. The stability analysis of the closed-loop system with the UDE-based controller is presented. It is shown that the proposed control scheme can ensure the boundedness of the control signals. A number of numerical simulations are carried out to demonstrate the satisfactory trajectory tracking performance of the proposed method. |
| WOS关键词 | NONLINEAR-SYSTEMS ; VIBRATION CONTROL ; ADAPTIVE-CONTROL ; TRACKING CONTROL ; STABILIZATION ; AIRCRAFT ; DYNAMICS ; ACTUATOR ; DESIGN ; FLIGHT |
| 资助项目 | National Key Research and Development Program of China[2017YFB1300102] ; Major Science and Technology Fund of Beijing[Z181100003118006] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000521959100054 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; Major Science and Technology Fund of Beijing |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38752]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | He, Wei |
| 作者单位 | 1.Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 10083, Peoples R China 2.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 10083, Peoples R China 3.Bogazici Univ, TR-34342 Istanbul, Turkey 4.Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England 5.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yin, Zhao,He, Wei,Kaynak, Okyay,et al. Uncertainty and Disturbance Estimator-Based Control of a Flapping-Wing Aerial Vehicle With Unknown Backlash-Like Hysteresis[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(6):4826-4835. |
| APA | Yin, Zhao,He, Wei,Kaynak, Okyay,Yang, Chenguang,Cheng, Long,&Wang, Yu.(2020).Uncertainty and Disturbance Estimator-Based Control of a Flapping-Wing Aerial Vehicle With Unknown Backlash-Like Hysteresis.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(6),4826-4835. |
| MLA | Yin, Zhao,et al."Uncertainty and Disturbance Estimator-Based Control of a Flapping-Wing Aerial Vehicle With Unknown Backlash-Like Hysteresis".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.6(2020):4826-4835. |
入库方式： OAI收割
来源：自动化研究所
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