Adaptive Optimal Control of UAV Brake Based on Parameter Estimation

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 dev...

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Bibliographic Details
Published inApplied sciences Vol. 13; no. 21; p. 11888
Main Authors Lv, Hao, Liu, Qinrui, Wan, Yu, Gao, Xuehui, Li, Feng, Liu, Zhen
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.11.2023
Subjects
adaptive optimal control
Aircraft
Braking systems
Control theory
Controllers
Dynamic programming
Energy consumption
Friction
Laws, regulations and rules
Mathematical models
Methods
Neural networks
Parameter estimation
single critic neural network
UAV braking system
Unmanned aerial vehicles
Velocity
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app132111888