Speed-Gradient Method in Mechanical Engineering

Fradkov, Alexander L.; Andrievsky, Boris

doi:10.1007/978-3-030-93076-9_9

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Synthesis Of Uav Adaptation Law1

Proof Of Proposition1

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2022

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“…To obtain the adaptive tuning law for control law (23), the adjustable parameters m, kx , ky , kh are employed with the Speed-gradient (SG) method, cf. [52][53][54][55].…”

Section: Synthesis Of Uav Adaptation Lawmentioning

confidence: 99%

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Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation

et al. 2022

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The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model transformation. As result, a linear model is obtained containing an unknown value of the UAV mass. Employing the speed-gradient design method and the implicit reference model concept, a combined adaptive control law is proposed for a single UAV, including the UAV’s mass estimation and adaptive tuning of the controller parameters. The obtained new algorithms are then used to address the problem of consensus-based decentralized control of the UAV formation. Rigorous stability conditions for control and identification are derived, and simulation results are presented to demonstrate the quality of the closed-loop control system for various conditions.

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“…To obtain the adaptive tuning law for control law (23), the adjustable parameters m, kx , ky , kh are employed with the Speed-gradient (SG) method, cf. [52][53][54][55].…”

Section: Synthesis Of Uav Adaptation Lawmentioning

confidence: 99%

“…To prove this, we can check the conditions under which the SG scheme is operable [52][53][54][55] Function Qt should be convex on adjustable parameters m, kx , ky , kh . This condition is met because Qt is linear with respect to the adjustable parameters.…”

Section: Proof Of Propositionmentioning

confidence: 99%