论文标题
具有未知动力学的四轮驱动器的自适应数字PID控制
Adaptive Digital PID Control of a Quadcopter with Unknown Dynamics
论文作者
论文摘要
本文为具有未知动力学的四肢驱动器开发了一种自适应自动驾驶仪。为此，对PX4自动驾驶仪体系结构进行了修改，以便基于回顾性成本自适应控制（RCAC）将反馈和前馈控制器被自适应控制法代替。本文提供了对具有未知动力学的四轮驱动器上自适应自动驾驶仪的性能的数值研究。为了反映缺乏先前的建模信息，所有自适应数字控制器均以零收益初始化。另外，四轮驱动器的恒星瞬间变化以测试自适应自动驾驶仪的鲁棒性。在所有测试用例中，命令车辆遵循给定的轨迹，并检查了结果性能。
This paper develops an adaptive autopilot for quadcopters with unknown dynamics. To do this, the PX4 autopilot architecture is modified so that the feedback and feedforward controllers are replaced by adaptive control laws based on retrospective cost adaptive control (RCAC). The present paper provides a numerical investigation of the performance of the adaptive autopilot on a quadcopter with unknown dynamics. In order to reflect the absence of prior modeling information, all of the adaptive digital controllers are initialized at zero gains. In addition, moment-of-inertia of the quadcopter is varied to test the robustness of the adaptive autopilot. In all test cases, the vehicle is commanded to follow a given trajectory, and the resulting performance is examined.
