基于同步的多旋翼无人机非线性模型自适应参数辨识

摘要

针对多旋翼无人机的非线性模型,提出了一种基于同步理论的自适应参数辨识方法.其主要思想是通过设计一种"从系统",在实现状态与原有非线性系统同步的同时,设计自适应更新律,使得对参数的估计收敛到真值.所提方法能够适用于以非线性形式存在的参数,其渐近稳定性由李雅普诺夫方法和拉塞尔不变性原理予以证明.仿真实例可以验证,合理选择自适应增益,即便真值发生突变,所提方法也能保证估计值快速收敛到最新的真值.%A synchronization based adaptive parameter identification approach is proposed for the nonlinear model of multi-rotor unmanned aerial vehicles (MUAVs). During the identification, a slave dynamic structure is designed to synchronize with the MUAV's response. Meanwhile, the estimated parameters converge to their real values according to the designed adaptive laws. The highlight here is that the parameters can't be rewritten in linearized format. Lyapunov's stability theorem and LaSalle's invariance principle are utilized to assure performance. To validate the proposed method, simulation results are carried out and it is shown that the estimated parameters with proper selection of adaptive gains can converge to their real values quickly even if they were changed during the simulation.