考虑执行机构死区的L1 自适应控制

针对执行机构存在死区,系统模型存在不确定性,飞行过程受到有界扰动的飞行器姿态控制等问题,设计了相应的L1自适应控制器.通过设计滤波器和自适应律,保证控制系统的快速自适应性和鲁棒性.考虑执行机构存在死区时控制指令的不同响应情况,推导了考虑执行机构死区的L1自适应控制系统的稳定条件.仿真结果表明:该方法能够对执行机构的死区特性进行自适应补偿,对参考指令的跟踪稳定有效,且对系统模型的不确定性和有界扰动具有强鲁棒性.

L1 Adaptive Control for Dead Zone in Actuator

To solve the attitude control problem for a class of flight systems with unknown parameters, bounded disturbances and dead zone, an L1 adaptive controller is designed. By designing adaptive control law and low-pass filter, the fast adaption and robustness of the control system is guaranteed. The stability conditions of the L1 adaptive control system are derived, considering the different responses of actuator to control instructions in dead zone. The simulation results show that the proposed method can make adaptive compensation for the dead zone of the systems, and achieve stable tracking of reference instructions. It has a good robustness for the uncertainty and bounded disturbances.