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- Title
Data‐driven model‐free adaptive attitude control for morphing vehicles.
- Authors
Che, Haohui; Chen, Jun; Wang, Yonghai; Wang, Jianying; Luo, Yunhao
- Abstract
This paper investigates the attitude control problem of the morphing vehicle subject to great dynamics changes and disturbances during the morphing phase. An improved model‐free adaptive control (MFAC) method is proposed based on the compact format dynamic linearization technique. Firstly, a compact format data model and data‐driven control scheme are established based on the input/output (I/O) data of the controlled plant, independent of the complicated and time‐varying mathematical model of the morphing vehicle. Secondly, a series of historical output data errors in a moving time window are introduced to the control law, in which the length of the moving time window can be adjusted according to the system order of controlled plant. The convergence and stability of the improved control law are then proved theoretically, which guarantees the convergence of the tracking errors and the boundedness of the input and output data. Finally, numerical simulations are presented to evaluate the proposed approach, and comparisons are made with the conventional proportional‐derivative control method. Simulation results demonstrate that the improved method possesses better effectiveness and robustness in the presence of model changes and disturbances.
- Subjects
ADAPTIVE control systems; COMPACTING; ARTIFICIAL satellite attitude control systems; VEHICLE models; DATA modeling; VEHICLES
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2022, Vol 16, Issue 16, p1696
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/cth2.12335