论文标题
基于升高的自适应控制，具有质量惯性参数估计，用于多旋转无人机的空中运输
RISE-Based Adaptive Control with Mass-Inertia Parameter Estimation for Aerial Transportation of Multi-Rotor UAVs
论文作者
论文摘要
本文提出了一种自适应跟踪策略，并对多旋转无人机的空中运输问题进行大规模惯性估计。具有干扰的多旋转无人机的动态模型首先以线性参数化的形式开发。随后，使用具有鲁棒的误差符号（rise）项的稳健组成部分的级联控制器，以平滑控制输入和地址有限的干扰。然后，基于滤波器操作设计了大规模惯性参数的自适应估计定律。引入此类操作是为了提取利用到理论上保证估计误差的有限时间（FT）收敛性的估计误差。最后，进行模拟以验证设计控制器的有效性。结果表明，所提出的方法比基于滑动模式控制算法和基于梯度的估计策略的传统自适应控制器提供了更好的跟踪和估计性能。
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly parameterized form. Subsequently, a cascade controller with the robust integral of the sign of the error (RISE) terms is applied to smooth the control inputs and address bounded disturbances. Then, adaptive estimation laws for mass-inertia parameters are designed based on a filter operation. Such operation is introduced to extract estimation errors exploited to theoretically guarantee the finite-time (FT) convergence of estimation errors. Finally, simulations are conducted to verify the effectiveness of the designed controller. The results show that the proposed method provides better tracking and estimation performance than traditional adaptive controllers based on sliding mode control algorithms and gradient-based estimation strategies.
