Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator
文献类型：期刊论文
| 作者 | Lei, Wenchao2,3; Li, Chanying2,3; Chen, Michael Z. Q.1 |
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2019-11-01 |
| 卷号 | 27期号:6页码:2663-2671 |
| 关键词 | Adaptation models Adaptive control Control systems Dynamic scheduling Robustness Pulse width modulation Proportional-integral (PI) quadrotor robust adaptive control self-tuning regulator (STR) tracking control unmanned aerial vehicle (UAV) |
| ISSN号 | 1063-6536 |
| DOI | 10.1109/TCST.2018.2872462 |
| 英文摘要 | This brief is concerned with the robust adaptive tracking control problem of quadrotors. Considering the practicality of control laws to be designed, the self-tuning regulator (STR) for discrete-time systems is employed as our inner loop adaptive tracking mechanism and the classical proportional-integral (PI) control is designed for the outer loop to guarantee the robustness of the whole system. The main contributions of our work include: 1) we design the control laws for the actuator inputs (pulsewidth modulation signals) directly, which removes the need to measure the motor speeds and 2) the proposed PI-STR method can reduce the large overshoot of a single STR and retain the adaptability of the STR and the robustness of the PI control simultaneously. Furthermore, the outer loop PI controller and inner loop STR can easily be implemented in the digital form. The stability analysis is also provided. Simulations indicate that the PI-STR-based control structure can cope with the situations where vehicles are disturbed or have time-varying parameters. Our preliminary experiments show its practicality. |
| 资助项目 | National Natural Science Foundation of China[61422308] ; National Natural Science Foundation of China[11688101] ; National Natural Science Foundation of China[61873129] ; National Key Basic Research Program of China (973 Program)[2014CB845301] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000492299000032 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/50675]  |
| 专题 | 中国科学院数学与系统科学研究院 |
| 通讯作者 | Li, Chanying |
| 作者单位 | 1.Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Math Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Lei, Wenchao,Li, Chanying,Chen, Michael Z. Q.. Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2019,27(6):2663-2671. |
| APA | Lei, Wenchao,Li, Chanying,&Chen, Michael Z. Q..(2019).Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,27(6),2663-2671. |
| MLA | Lei, Wenchao,et al."Robust Adaptive Tracking Control for Quadrotors by Combining PI and Self-Tuning Regulator".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 27.6(2019):2663-2671. |
入库方式： OAI收割
来源：数学与系统科学研究院
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