DocumentCode :
728172
Title :
Adaptive attitude tracking control with parameter identification by shaping invariant manifold
Author :
Dongeun Seo
Author_Institution :
Fac. of Aerosp. Eng., Embry-Riddle Aeronaut. Univ., Daytona Beach, FL, USA
fYear :
2015
fDate :
1-3 July 2015
Firstpage :
1555
Lastpage :
1560
Abstract :
The nonlinear adaptive attitude control problem is considered with the focus on the identification of unknown system parameters. The unknown parameters are assumed to be constant and the quaternion representation of the kinematic equations is adopted to avoid the singularity in three-parameter representations. In addition to the global asymptotic convergence of the tracking error to zero, the parameter identification is guaranteed with a simple reference signal. The parameter identification procedures rely on the shaping of the invariant manifold introduced in the adaptation algorithm. The main contribution of the paper is to propose the algorithm to identify the unknown system parameters without designing reference signals for the satisfaction of a rank condition. In order to guarantee the convergence of the estimator to the true system parameters, a three-stage estimation algorithm is proposed. At each stage, the system has a different invariant manifold in its closed-loop system dynamics. Numerical simulations demonstrate the effectiveness of the proposed method.
Keywords :
adaptive control; attitude control; closed loop systems; estimation theory; nonlinear control systems; parameter estimation; closed-loop system dynamics; invariant manifold shaping; kinematic equations; nonlinear adaptive attitude tracking control; three-parameter representations; three-stage estimation algorithm; tracking error global asymptotic convergence; unknown system parameter identification; Adaptive systems; Angular velocity; Attitude control; Convergence; Manifolds; Quaternions; Transient analysis; Adaptive control; attitude control; non-certainty equivalence principle; parameter identification;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
Type :
conf
DOI :
10.1109/ACC.2015.7170954
Filename :
7170954
Link To Document :
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