Model-Free Adaptive Control for Parafoil Systems Based on the Iterative Feedback Tuning Method

被引：14
作者：
Zhao, Linggong [1 ]
He, Weiliang [1 ]
Lv, Feikai [2 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Aerosp Times Feihong Technol Co Ltd, Beijing 100094, Peoples R China
来源：
IEEE ACCESS | 2021年 / 9卷
关键词：
Adaptation models; Aerodynamics; Atmospheric modeling; Tuning; Adaptive control; Vehicle dynamics; Nonlinear dynamical systems; Parafoil system; model-free adaptive control; iterative feedback tuning; hardware-in-loop test; NONLINEAR-SYSTEMS;
D O I：
10.1109/ACCESS.2021.3050275
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Parafoil systems are strongly nonlinear due to the flexibility of the canopy and suspension lines, and this characteristic cannot be simulated accurately by existing dynamic models. Hence, model-independent control methods are necessary for parafoil systems. This paper introduces a model-free adaptive control method based on the iterative feedback tuning (IFT-MFAC) method for parafoil systems that is a data-driven control method in which only input/output (I/O) data are needed during construction. In this paper, the MFAC construction process and stability analysis are explained, and then the IFT method is used to tune the two stepping factors of the MFAC method. A six-degree-of-freedom (DOF) dynamic parafoil system model is built to assess the performance of the method in a simulation with disturbances added to imitate real flights. A series of simulations and hardware-in-loop (HIL) tests are designed to verify the performance of the IFT-MFAC controller, and it is compared with the PID control method, the active disturbance rejection control (ADRC) method, and the MFAC method.
引用
收藏
页码：35900 / 35914
页数：15
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