Adaptive Control and Application for Nonlinear Systems With Input Nonlinearities and Unknown Virtual Control Coefficients
针对输入死区和饱和的非线性系统，提出一种自适应跟踪控制方法，通过光滑函数和Nussbaum增益技术处理未知系数，并成功应用于四旋翼姿态控制。
This article is devoted to an adaptive tracking control problem for nonlinear systems with input deadzone and saturation, whose virtual control coefficients include the known and unknown terms. A novel smooth function is first introduced to approximate the input nonlinearities. By utilizing an auxiliary variable and the Nussbaum gain technique, an improved real control signal is constructed to handle the uncertainties of the virtual control coefficients and input nonlinearities. Furthermore, an adaptive tracking controller is constructed and applied to the attitude control of a quadrotor, which guarantees the boundedness of all the signals in the resulting closed-loop system. Finally, both stability analysis and simulation results validate the effectiveness of the developed control strategy.