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首页> 外文期刊>Journal of guidance, control, and dynamics >Adaptive Estimation and Control Algorithms for Certain Independent Control Axis Misalignments
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Adaptive Estimation and Control Algorithms for Certain Independent Control Axis Misalignments

机译：某些独立控制轴失准的自适应估计和控制算法

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摘要

Actuators are often assumed to be perfectly aligned when designing for a stable closed-loop system. In practice, small actuator misalignments can cause the system to perform poorly, or worse, become unstable. Consequently, adaptive observers can be introduced that build online estimates for the unknown misalignments and recover closed-loop stability. In this paper, the problem where the control axes are independently misaligned in three dimensions is considered. A study of the problem indicates a fundamental geometric difference between in-plane and out-of-plane misalignments. Accordingly, special attention is paid to the case where two axes are independently misaligned. New nonlinear adaptive observers are introduced for both the in-plane and out-of-plane problems that guarantee that the misalignment axis estimates remain unit vectors. Furthermore, a Lyapunov-like stability analysis is performed to show convergence of the misalignment estimates to their true values for a wide range of misalignment angles. In addition, a novel control system is developed for a representative dynamic system containing the aforementioned actuator misalignments that ensures perfect asymptotic tracking of prescribed reference trajectories. Also, an axis decoupling method is described that helps alleviate some of the inherent issues in the estimation problem. Detailed proofs and numerical simulations are presented to help illustrate the technical aspects of the work.
机译：在设计稳定的闭环系统时，通常假定执行器已完全对准。在实践中，小的执行器未对准会导致系统性能下降，甚至变得不稳定。因此，可以引入自适应观测器，该观测器为未知的未对准建立在线估计并恢复闭环稳定性。在本文中，考虑了控制轴在三个维度上独立错位的问题。对问题的研究表明，平面内和平面外未对准之间存在根本的几何差异。因此，要特别注意两个轴独立未对准的情况。针对平面内和平面外问题引入了新的非线性自适应观测器，这些观测器可确保未对准轴估计仍为单位矢量。此外，进行了一次类似于Lyapunov的稳定性分析，以显示在大范围的未对准角度下，未对准估计值收敛到其真实值的情况。另外，针对包含前述致动器失准的代表性动态系统开发了新颖的控制系统，该系统确保了对规定参考轨迹的完美渐近跟踪。另外，描述了一种轴解耦方法，该方法有助于减轻估计问题中的某些固有问题。提出了详细的证明和数值模拟，以帮助说明这项工作的技术方面。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2014年第1期|72-85|共14页
  • 作者

    Travis H. Mercker; Maruthi R. Akella;

  • 作者单位

    U.S. Air Force Research Labs, Wright-Patterson Air Force Base, Ohio 45433;

    University of Texas at Austin, Austin, Texas 78712,Department of Aerospace Engineering and Engineering Mechanics, 1 University Station, Code C0600;

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