Model‐free adaptive control method for a class of unknown MIMO systems with measurement noise and application to quadrotor aircraft. Issue 15 (7th September 2020)

• Record Type: Journal Article
• Authors: Liu, Shida; Hou, Zhongsheng; Zhang, Xin; Ji, Honghai
• Is Part Of: IET control theory & applications. Volume 14:Issue 15(2020)
• Page Start: 2084
• Page End: 2096
• Publication Date: 2020-09-07
• Subjects: control system synthesis -- nonlinear control systems -- robust control -- MIMO systems -- adaptive control -- Jacobian matrices -- linear systems -- helicopters -- attitude control -- linearisation techniques; model‐free adaptive control method -- unknown MIMO systems -- measurement noise -- dynamic linearisation data model -- pseudoJacobian matrix -- adaptive decreasing factor -- data‐driven control method -- input–output data -- control system design -- practical quadrotor aircraft -- robust model‐free adaptive control algorithm -- unknown multiple‐input multiple‐output systems -- Ro‐MFAC stability -- mathematical theory -- altitude adjustment; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2020.0073
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : In this work, a novel robust model‐free adaptive control (Ro‐MFAC) algorithm for a class of unknown multiple‐input multiple‐output (MIMO) systems with measurement noise is presented. The proposed algorithm, designing by a dynamic linearisation data model with the concept of the pseudo‐Jacobian matrix and an adaptive decreasing factor, is a pure a data‐driven control method, and only the input–output data are involved for the control system design. The introduction of the adaptive decreasing factor is to attenuate the noise effect on the performance for improving the robustness of the algorithm. The stability of the Ro‐MFAC proposed algorithm is proven by rigorous mathematical theory, and the effectiveness of the Ro‐MFAC is verified by a series of numerical simulations. Furthermore, the Ro‐MFAC is applied to an attitude adjustment problem of a practical quadrotor aircraft for demonstrating the applicability of the proposed approach.