Robust Adaptive Control of PVTOL System via Minimum Projection Method

作     者：Soki Kuga Hisakazu Nakamura Yasuyuki Satoh 

作者机构：Tokyo University of Science Yamazaki 2641 Noda Chiba 278-8150 Japan Kyoto University 

出 版 物：《Journal of Mathematics and System Science》 (数学和系统科学（英文版）)

年 卷 期：2016年第6卷第5期

页      码：169-179页

摘      要：＂Dynamic extension＂ is commonly used for stabilization of the planar vertical take off and landing （PVTOL） system. Most controllers designed by the method are based on ＂dynamic＂ control Lyapunov functions （CLFs）. We design a C^∞ differentiable ＂static＂ CLF for the PVTOL system by dynamic extension and minimum projection method. Then we propose an inverse optimal controller based on the static CLF that attains a gain margin. We design an adaptive control input and show the robustness of the controller by computer simulation.

主 题 词：Nonlinear control Control Lyapunov function Adaptive control Inverse optimal control PVTOL system. 

学科分类：08[工学] 082503[082503] 0835[0835] 0802[工学-机械学] 0825[工学-环境科学与工程类] 080201[080201] 

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