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王慧东 , 周来宏 . 四旋翼无人机反步积分自适应控制器设计 [J ] . 兵工学报 , 2021 , 42 ( 6 ): 1283 - 1289 . DOI: 10.3969/j.issn.1000-1093.2021.06.019 http://doi.org/10.3969/j.issn.1000-1093.2021.06.019 针对四旋翼无人机在实际应用过程中出现质量变化的情况，基于自适应控制理论设计质量观测器，用于实时观测无人机的质量并修正其质量参数。在经典反步控制器 (CBC)基础上，结合质量观测器和第一类控制误差积分，提出反步积分自适应控制器 (BIAC), 用于无人机的轨迹跟踪控制。该控制器的设计过程基于Lyapunov稳定性理论，能够保证系统的控制误差渐进稳定。应用MATLAB/Simulink软件环境完成轨迹跟踪仿真实验。仿真结果表明：在无人机存在质量慢变或质量突变情况下，BIAC可以更好地估计无人机实时质量；与CBC相比，地球坐标系Exeyeze下ze轴 轨迹误差减小80%左右，跟踪精度大为提高。

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修杨 , 邓宏彬 , 危怡然 , 等 . 基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器 [J ] . 兵工学报 , 2022 , 43 ( 8 ): 1926 - 1938 .

XIU Y , DENG H B , WEI Y R , et al. Adaptive robust path following controller for quadrotor UAVs based on parameter estimation [J ] . Acta Armamentarii , 2022 , 43 ( 8 ): 1926 - 1938 . (in Chinese) DOI: 10.12382/bgxb.2021.0444 http://doi.org/10.12382/bgxb.2021.0444 To improve the path following accuracy and flight robustness of quadrotor UAVs, an adaptive robust path following controller based on parameter estimation is proposed. The controller can adaptively estimate the gyroscopic factors and drag coefficients for the UAV model, compensate the system’s control input based on estimated values, and offset the negative impact of the external environment with an anti-interference capacity. The controller can effectively improve the path following and anti-interference performance of quadrotor UAVs. First, a nonlinear mechanical model of a quadrotor UAV is established. Second, the path following targets for UAVs are divided into attitude angle targets and moving position targets. Third, the backstepping sliding mode method and adaptive control method are used to design the control input equation and the estimation updating law of the UAV. Simultaneously, the asymptotic stability of the UAV attitude system and motion position system is verified by applying the Lyapunov method. Lastly, the effectiveness and superiority of the proposed controller are verified by simulation and experiments.

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TUTSOY O , BARKANA D E , TUGAL H . Design of a completely model free adaptive control in the presence of parametric, non-parametric uncertainties and random control signal delay [J ] . ISA Transactions , 2018 , 76 : 67 - 77 . DOI: S0019-0578(18)30096-X http://doi.org/S0019-0578(18)30096-X In this paper, an adaptive controller is developed for discrete time linear systems that takes into account parametric uncertainty, internal-external non-parametric random uncertainties, and time varying control signal delay. Additionally, the proposed adaptive control is designed in such a way that it is utterly model free. Even though these properties are studied separately in the literature, they are not taken into account all together in adaptive control literature. The Q-function is used to estimate long-term performance of the proposed adaptive controller. Control policy is generated based on the long-term predicted value, and this policy searches an optimal stabilizing control signal for uncertain and unstable systems. The derived control law does not require an initial stabilizing control assumption as in the ones in the recent literature. Learning error, control signal convergence, minimized Q-function, and instantaneous reward are analyzed to demonstrate the stability and effectiveness of the proposed adaptive controller in a simulation environment. Finally, key insights on parameters convergence of the learning and control signals are provided.Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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