Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

作     者：Chen Qian Yongchun Fang Chen Qian;Yongchun Fang

作者机构：Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China 

出 版 物：《CAAI Transactions on Intelligence Technology》 (智能技术学报（英文）)

年 卷 期：2018年第3卷第1期

页      面：18-27页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This work was supported by National Natural Science Foundation of China under grant no. 61633012  and in part by the Natural Science Foundation of Tianjin under grant no. 16JCZDJC30300 

主　　题：飞行器 跟踪器 人工智能 发展现状 

摘      要：An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.