Title:
Integration of Adaptive Estimation and Adaptive Control Design for Uncertain Nonlinear Systems
Integration of Adaptive Estimation and Adaptive Control Design for Uncertain Nonlinear Systems
Author(s)
Sattigeri, Ramachandra J.
Calise, Anthony J.
Kim, Byoung Soo
Calise, Anthony J.
Kim, Byoung Soo
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
This paper presents a method to integrate adaptive estimation and adaptive control
designs for a class of uncertain nonlinear systems having both parametric uncertainties and
unmodeled dynamics. The method is based on Lyapunov-like stability analysis of all the
errors in the closed-loop system. The adaptive estimator considered is a linear, time-varying
Kalman filter augmented by the output of an observer neural network. The observer neural
network compensates the nominal Kalman filter for modeling errors. The estimated states
are used in the construction of an adaptive control solution that is based on approximate
feedback linearization augmented with the outputs of an adaptive neural network controller.
The presented approach is then applied to a vision-based formation flight control problem.
The objective is for a follower aircraft to maintain range from a maneuvering leader aircraft
using a monocular fixed camera for passive sensing of the leader's relative motion. In the
implementation, the states of the adaptive estimator are estimates of line-of-sight variables
and the outputs of the observer neural network are estimates of the leader acceleration. The
adaptive control solution considered is an integrated guidance and control design that
includes online adaptation to unmodeled nonlinearities such as the unknown leader aircraft
acceleration and parametric uncertainties in the own-aircraft aerodynamic derivatives.
Simulation results using a nonlinear 6DOF simulation model of a fixed-wing UAV are
presented to illustrate the feasibility and efficacy of the approach.
Sponsor
Date Issued
2007-08
Extent
Resource Type
Text
Resource Subtype
Proceedings