Uncertainty and Disturbance Estimator-Based Control of a Flapping-Wing Aerial Vehicle With Unknown Backlash-Like Hysteresis
Yin, Zhao1,2; He, Wei1,2; Kaynak, Okyay1,2,3; Yang, Chenguang4; Cheng, Long5; Wang, Yu5
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2020-06-01
卷号67期号:6页码:4826-4835
通讯作者He, Wei(weihe@ieee.org)
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.
关键词Routing Routing protocols Databases Servers Resilience Advertising Backlash flapping-wing aerial vehicle (FWAV) hysteresis uncertainty and disturbance estimator (UDE)
DOI10.1109/TIE.2019.2926055
关键词[WOS]NONLINEAR-SYSTEMS ; VIBRATION CONTROL ; ADAPTIVE-CONTROL ; TRACKING CONTROL ; STABILIZATION ; AIRCRAFT ; DYNAMICS ; ACTUATOR ; DESIGN ; FLIGHT
收录类别SCI
语种英语
资助项目National Key Research and Development Program of China[2017YFB1300102] ; Major Science and Technology Fund of Beijing[Z181100003118006]
项目资助者National Key Research and Development Program of China ; Major Science and Technology Fund of Beijing
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000521959100054
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
被引频次:19[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/38753
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者He, Wei
作者单位1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 10083, Peoples R China
2.Univ Sci & Technol Beijing, Inst Artificial Intelligence, 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
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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.
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