Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification

作     者：Jie Zhao Zhongjiao Shi Yuchen Wang Wei Wang Jie Zhao;Zhongjiao Shi;Yuchen Wang;Wei Wang

作者机构：Beijing Institute of TechnologyBeijing 100081China 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2024年第31卷第1期

页      面：375-386页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

基　　金：partially supported by the Natural Science Foundation of China (Grant Nos.62103052,52272358) partially supported by the Beijing Institute of Technology Research Fund Program for Young Scholars 

主　　题：Rotor-missile Adaptive control Parameter identification Quaternion control 

摘      要：This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system ***,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference ***,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F ***,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression *** long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be ***,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.