Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification
This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties. First, considering the uncertainty of structural and aerodynamic parameters, the six-degree-of-freedom (6DoF) n...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2024-01-01
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| Series: | Defence Technology |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2214914723000181 |
| _version_ | 1797334809495732224 |
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| author | Jie Zhao Zhongjiao Shi Yuchen Wang Wei Wang |
| author_facet | Jie Zhao Zhongjiao Shi Yuchen Wang Wei Wang |
| author_sort | Jie Zhao |
| collection | DOAJ |
| description | This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties. First, considering the uncertainty of structural and aerodynamic parameters, the six-degree-of-freedom (6DoF) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established, respectively, in the inertial and body-fixed reference frames. Next, a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6DoF dynamics. Then, a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix. As long as the finitely excited condition is satisfied, the precise identification of unknown parameters can be achieved. Finally, the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations. |
| first_indexed | 2024-03-08T08:26:35Z |
| format | Article |
| id | doaj.art-939a8aa49858405c950c88b0a71c89a7 |
| institution | Directory Open Access Journal |
| issn | 2214-9147 |
| language | English |
| last_indexed | 2024-03-08T08:26:35Z |
| publishDate | 2024-01-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Defence Technology |
| spelling | doaj.art-939a8aa49858405c950c88b0a71c89a72024-02-02T04:39:09ZengKeAi Communications Co., Ltd.Defence Technology2214-91472024-01-0131375386Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters IdentificationJie Zhao0Zhongjiao Shi1Yuchen Wang2Wei Wang3Beijing Institute of Technology, Beijing 100081, ChinaCorresponding author.; Beijing Institute of Technology, Beijing 100081, ChinaBeijing Institute of Technology, Beijing 100081, ChinaBeijing Institute of Technology, Beijing 100081, ChinaThis paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties. First, considering the uncertainty of structural and aerodynamic parameters, the six-degree-of-freedom (6DoF) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established, respectively, in the inertial and body-fixed reference frames. Next, a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6DoF dynamics. Then, a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix. As long as the finitely excited condition is satisfied, the precise identification of unknown parameters can be achieved. Finally, the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.http://www.sciencedirect.com/science/article/pii/S2214914723000181Rotor-missileAdaptive controlParameter identificationQuaternion control |
| spellingShingle | Jie Zhao Zhongjiao Shi Yuchen Wang Wei Wang Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification Defence Technology Rotor-missile Adaptive control Parameter identification Quaternion control |
| title | Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification |
| title_full | Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification |
| title_fullStr | Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification |
| title_full_unstemmed | Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification |
| title_short | Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification |
| title_sort | quaternion based adaptive trajectory tracking control of a rotor missile with unknown parameters identification |
| topic | Rotor-missile Adaptive control Parameter identification Quaternion control |
| url | http://www.sciencedirect.com/science/article/pii/S2214914723000181 |
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