CN106292297B - 基于pid控制器和l1自适应控制器的姿态控制方法 - Google Patents
基于pid控制器和l1自适应控制器的姿态控制方法 Download PDFInfo
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- CN106292297B CN106292297B CN201610946813.9A CN201610946813A CN106292297B CN 106292297 B CN106292297 B CN 106292297B CN 201610946813 A CN201610946813 A CN 201610946813A CN 106292297 B CN106292297 B CN 106292297B
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000013019 agitation Methods 0.000 claims abstract description 8
- 239000013598 vector Substances 0.000 claims description 24
- 238000004364 calculation method Methods 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000013178 mathematical model Methods 0.000 abstract description 5
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN201610946813.9A CN106292297B (zh) | 2016-10-26 | 2016-10-26 | 基于pid控制器和l1自适应控制器的姿态控制方法 |
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CN201610946813.9A CN106292297B (zh) | 2016-10-26 | 2016-10-26 | 基于pid控制器和l1自适应控制器的姿态控制方法 |
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CN106292297A CN106292297A (zh) | 2017-01-04 |
CN106292297B true CN106292297B (zh) | 2018-12-25 |
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Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107728470B (zh) * | 2017-08-31 | 2020-07-21 | 电子科技大学 | 一种无速率测量的机械臂姿态控制方法 |
CN107678284A (zh) * | 2017-11-09 | 2018-02-09 | 北京航空航天大学 | 高速飞行器的鲁棒补偿控制方法及高速飞行器 |
CN112666960B (zh) * | 2020-12-12 | 2023-06-23 | 西北工业大学 | 一种基于l1增广自适应的旋翼飞行器控制方法 |
CN114115357B (zh) * | 2022-01-25 | 2022-04-22 | 中国电子科技集团公司第二十八研究所 | 一种面向室内地下环境的无人机侦察规划方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102809970A (zh) * | 2012-07-09 | 2012-12-05 | 北京理工大学 | 一种基于l1自适应控制的飞行器姿态控制方法 |
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US20150015631A1 (en) * | 2013-07-11 | 2015-01-15 | Dan C. Lyman | Adaptive control of continuous inkjet parameters |
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Patent Citations (1)
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CN102809970A (zh) * | 2012-07-09 | 2012-12-05 | 北京理工大学 | 一种基于l1自适应控制的飞行器姿态控制方法 |
Non-Patent Citations (2)
Title |
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Cao C Y, Hovakimyan N. 1 adaptive controller for multi-input multi-output systems in the presence of unmatched disturbances.《Proc of the American Control Conf.》.2008, * |
基于非线性L1自适应动态逆的飞行器姿态角控制;陈海,何开锋,钱炜祺;《控制理论与应用》;20160831;第33卷(第8期);第1111-1118页 * |
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Address after: 611731 No. 1, 12 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant after: CHENGDU UAV INTELLIGENT SCIENCE & TECHNOLOGY CO.,LTD. Address before: 611731 No. 1, 12 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant before: CHENGDU UAV-ROBOTICS CO.,LTD. |
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Effective date of registration: 20180626 Address after: 611731 No. 1, 12 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant after: CHENGDU UAV INTELLIGENT SCIENCE & TECHNOLOGY CO.,LTD. Applicant after: STATE GRID ZHEJIANG ELECTRIC POWER Co.,Ltd. Address before: 611731 No. 1, 12 floor, No. 1, Tianfu Avenue, 1388 middle and high tech Zone, Chengdu, Sichuan. Applicant before: CHENGDU UAV INTELLIGENT SCIENCE & TECHNOLOGY CO.,LTD. |
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