AI 中文总结
本文针对非结构化不确定性控制问题，利用通用欧拉-拉格朗日性质提出不依赖不确定性结构知识的自适应方法，在ArduPilot相关模块验证其性能优于现有最先进方法。
AI 中文摘要
非结构化不确定性控制指的是对系统进行控制时，不仅参数未知，且参数在动力学中的呈现方式也未知。该问题在自动驾驶仪中至关重要，因为需要为结构不同的空中、地面、水上/水下飞行器寻求统一的控制架构。本短文仅利用大多数机械系统通用的基本欧拉-拉格朗日性质（与具体结构无关），提出一种不依赖不确定性结构知识的自适应设计。该自适应方法在ArduPilot的ArduPlane模块中得到验证，也适用于ArduCopter、ArduRover、ArduSub等其他模块。与现有处理非结构化和状态依赖不确定性的最先进方法相比，验证了其性能提升。
英文摘要
Control with unstructured uncertainties refers to controlling systems where not only the parameters are unknown, but also the way the parameters appear in the dynamics. This problem becomes pivotal in autopilots, where a unified control architecture is sought for aerial/ground/marine vehicles with different structures. By only making use of basic Euler-Lagrange properties valid in most mechanical systems independently of their specific structure, this brief proposes an adaptive design that does not rely on structural knowledge of the uncertainties. The proposed adaptive method, here validated in the ArduPlane module of ArduPilot, applies also to other modules like ArduCopter, ArduRover, ArduSub. Enhanced performance with respect to state-of-the-art methods addressing unstructured and state-dependent uncertainties is verified.
Journal refIEEE Transactions on Control Systems Technology, vol. 32, no. 3, pp. 1057-1065, May 2024
