Model Identification and Active Modeling Control for Rotor Fly-robot: Theory and Experiment
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摘要: 为解决旋翼飞行机器人全包线飞行中的参考模型辨识问题和由飞行模态转换、 内外部扰动, 以及动力学时变所产生的模型失配问题, 并消除模型失配对基于参考模型所设计的飞行控制器造成的跟踪性能的影响, 本文提出了基于悬停参考模型的系统辨识和主动模型的在线控制策略. 通过改进的频域辨识方法和半解耦的简化模型结构, 在悬停模态下进行模型拟合和全包线飞行的模型差分析, 然后结合自适应集员估计(Adaptive set-membership filter, ASMF)方法提出模型差的在线估计和控制补偿策略来应对统计学未知且有界(Unknown but bounded, UBB)的模型差, 以此消除上述模型失配对名义控制器理想条件的破坏所造成的控制性能降低. 最后, 通过在ServoHeli-40旋翼飞行机器人平台的实际飞行对比实验, 验证了所提出方法的有效性和现实可行性.Abstract: This paper proposes an active modeling control method, as well as a simplified reference model and a modified frequency identification process, to deal with the model mismatch, which brings errors to nominal controller. The hovering model is identified through the proposed semi-decoupled reference model and the modified frequency identification process. Based on this hovering model and adaptive set-membership filter (ASMF), a scheme of compensation for nominal controller is developed due to the unknown but bounded (UBB) model errors. Flight experiments are done on ServoHeli-40 fly-robot platform to verify the effectiveness of the proposed method in full flight envelope.
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