Synchronization based adaptive parameter identification for nonlinear modeling of multi-rotor unmanned aerial vehicles
JIANG Zi-ya
HE Yu-qing
HAN Jian-da
Abstract：A synchronization based adaptive parameter identification approach is proposed for the nonlinear model of multi-rotor unmanned aerial vehicles (MUAVs). During the identification, a slave dynamic structure is designed to synchronize with the MUAV's response. Meanwhile, the estimated parameters converge to their real values according to the designed adaptive laws. The highlight here is that the parameters can't be rewritten in linearized format. Lyapunov's stability theorem and LaSalle's invariance principle are utilized to assure performance. To validate the proposed method, simulation results are carried out and it is shown that the estimated parameters with proper selection of adaptive gains can converge to their real values quickly even if they were changed during the simulation.
Keywords：synchronizationadaptive parameter estimationunmanned aerial vehicle (UAV)nonlinear systems
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 867-874 )