Optimal adaptive parameter estimation-based tracking control of motor turntable servo system

2017 ◽  
Author(s):  
Qinqin Yang ◽  
Xuemei Ren ◽  
Wei Zhao ◽  
Yongfeng Lv ◽  
Shubo Wang
Keyword(s):  
Parameter Estimation ◽  
Tracking Control ◽  
Servo System ◽  
Adaptive Parameter

scholarly journals Online Adaptive Parameter Estimation for Quadrotors

Algorithms ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 167 ◽  
Author(s):  
Jun Zhao ◽  
Xian Wang ◽  
Guanbin Gao ◽  
Jing Na ◽  
Hongping Liu ◽  
...  
Keyword(s):  
Parameter Estimation ◽  
Exponential Convergence ◽  
Estimation Error ◽  
Persistent Excitation ◽  
System Parameters ◽  
Adaptive Parameter ◽  
Adaptive Laws ◽  
Accuracy Parameter ◽  
The Stability ◽  
Quadrotor System

The stability and robustness of quadrotors are always influenced by unknown or immeasurable system parameters. This paper proposes a novel adaptive parameter estimation technology to obtain high-accuracy parameter estimation for quadrotors. A typical mathematical model of quadrotors is first obtained, which can be used for parameter estimation. Then, an expression of the parameter estimation error is derived by introducing a set of auxiliary filtered variables. Moreover, an augmented matrix is constructed based on the obtained auxiliary filtered variables, which is then used to design new adaptive laws to achieve exponential convergence under the standard persistent excitation (PE) condition. Finally, a simulation and an experimental verification for a typical quadrotor system are shown to illustrate the effectiveness of the proposed method.

Sign in / Sign up

Export Citation Format

Share Document