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Parameter Identification for a Quadrotor Helicopter Using Multivariable Extremum Seeking Algorithm
Weizhen Liu,Xin Huo,Jinkun Liu,Libin Wang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
Parameter identification for a quadrotor helicopter is challenging from a theoretical point of view. In this paper, a closed-loop multivariable extremum seeking algorithm (MESA) is proposed for a nonlinear quadrotor helicopter parameter identification with two groups of input data. The proposed scheme is universally applicable to the closed-loop identification for cross-coupling multivariable processes where the identification problem is formulated as a minimization of a cost function. As the gradients of the performance parameters are obtained by step response experiments, the whole system searches along the negative gradient of the cost function until the reference trajectory or point is derived. Since the cost function is treated as a mapping from the model parameters, then the parameters can be identified online and in a real-time manner. The procedure of the identification algorithm is presented, and its effectiveness is illustrated by numerical simulations.
Adaptive Control with Quantized Inputs Processed by Lipschitz Logarithmic Quantizer
Guanghao Zhang,Xin Huo,Jinkun Liu,Kemao Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.2
In this paper, the design of adaptive control for a class of control systems with quantized inputs is investigated. According to the stability analysis result of adaptive control design, the quantized errors act as a great potential unstable risk for a class of sophisticated multi-channel system with quantized inputs. Thus, we establish Lipschitz logarithmic quantizer considering package loss problem in data transmission to eliminate quantized errors, and the superiority of this new quantizer is then proved by the asymptotically convergent mathematic expectation of quantized errors. Especially, a typical under-actuated multi-channel system, quadrotor UAV, is introduced to exhibit the effectiveness of the whole control scheme and the advancement compared with previous quantized control designs.