Adaptive Optimal Control of UAV Brake Based on Parameter Estimation
2023
Hao Lv | Qinrui Liu | Yu Wan | Xuehui Gao | Feng Li | Zhen Liu
A new parameter estimation method for a UAV braking system with unknown friction parameters is suggested. The unknown part containing friction is separated from the coupling system. The law of parameter updating is driven by the estimation error extracted by the auxiliary filter. A controller is developed to guarantee the convergence of the parameter estimation and tracking errors simultaneously. Furthermore, a designed performance index function enables the system to track the desired slip rate optimally. The optimal value of the performance function is updated by a single critic neural network (NN) to obtain comprehensive optimization of the control energy consumption, dynamic tracking error, and filtering error during braking. In addition, the unknown bounded interference and neural network approximation errors are compensated by robust integral terms. Simulation results are presented to confirm the effectiveness of the proposed control scheme.
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