earticle

영어

In this paper, an enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle helicopter that is non-affine in the control input. By dynamic linearization and observer techniques, the proposed control algorithm is only based on the PPD parameter estimation derived online from the I/O data of the controlled system, and Lyapunov-based stability analysis is used to prove all signals of close-loop control system are bounded. Compared with the traditional model free adaptive control, the proposed enhanced model free control algorithm can make the closes-loop control system with stronger robustness and better anti-jamming ability. Finally, the simulation results of the dynamic model of a real helicopter-on-arm are offered to demonstrate the effectiveness of the proposed new control techniques.