发表机构
The Hatter Department of Marine Technologies, School of Marine Sciences University of Haifa（海法大学海洋科学学院哈特海洋技术系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文从非线性角度重新审视确定性等价，指出估计状态会引发估计与跟踪动态的内在耦合。提出估计感知控制范式，将估计质量纳入反馈律。通过高保真四旋翼飞行模拟验证框架，频域评估显示其扩展跟踪带宽、提高稳定裕度，为经典CE设计提供替代。
AI 中文摘要
确定性等价（CE）原理通过实现估计与控制设计的分离，支撑着广泛的控制架构。虽然该特性在线性系统中成立，但其在非线性环境中的有效性仍然有限且常被隐含假设。本文从非线性角度重新审视CE，表明估计状态在估计与跟踪动态之间引发内在耦合。通过在跟踪误差坐标中分析闭环系统，证明在激进瞬态期间非线性状态依赖性会产生高阶交互项。基于此限制，提出一种估计感知（EA）控制范式，将估计质量纳入反馈律以隔离估计引起的回路。该公式与滤波器无关，同时保留对平滑、欠驱动非线性系统的一般适用性。推导出保证在不确定性下有界跟踪的分析条件，并在高达57.6 km/h的速度下沿复杂3D轨迹的高保真四旋翼飞行模拟中验证了该框架。频域评估表明，EA律将跟踪带宽扩展了39%，并将稳定裕度提高了多达55%，有效减轻了严重的交叉耦合，为基于经典CE的设计提供了一种强大的替代方案。
英文摘要
The certainty equivalence (CE) principle underpins a wide range of control architectures by enabling the separation of estimation and control design. While this property holds for linear systems, its validity in nonlinear settings remains limited and often implicitly assumed. This paper revisits CE from a nonlinear perspective, showing that estimated states induce an intrinsic coupling between estimation and tracking dynamics. By analyzing the closed-loop system in tracking-error coordinates, we demonstrate that nonlinear state dependence gives rise to higher-order interaction terms during aggressive transients. Motivated by this limitation, we propose an estimation-aware (EA) control paradigm that incorporates estimation quality into the feedback law to isolate estimation-induced loops. The formulation remains filtering-agnostic while preserving general applicability to smooth, underactuated nonlinear systems. We derive analytical conditions guaranteeing bounded tracking under uncertainty, validating the framework under high-fidelity quadrotor flight simulation along complex 3D trajectories at speeds up to 57.6 km/h. Frequency-domain evaluations demonstrate that the EA law extends tracking bandwidth by 39% and improves stability margins by up to 55%, effectively mitigating severe cross-couplings to offer a robust alternative to classical CE-based designs.
Comments18 pages, 21 figures
