Model Reference Adaptive Control of Switched Dynamical Systems with Applications to Aerial Robotics

This paper presents an adaptive control law for unknown nonlinear switched plants that must follow the trajectory of user-defined linear switched reference models. The effectiveness of the proposed control architecture is proven in two alternative frameworks, that is, analyzing Carathéodory and Fili...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2020-12, Vol.100 (3-4), p.1265-1281
Main Authors: Anderson, Robert B., Marshall, Julius A., L’Afflitto, Andrea, Dotterweich, James M.
Format: Article
Language:English
Subjects:
Artificial Intelligence
Control
Control systems
Control theory
Delta wings
Differential equations
Electrical Engineering
Engineering
Laws, regulations and rules
Mathematical models
Mechanical Engineering
Mechatronics
Model reference adaptive control
Nonlinear control
Numerical analysis
Robotics
Robotics industry
Robots
Simulation methods
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Summary:This paper presents an adaptive control law for unknown nonlinear switched plants that must follow the trajectory of user-defined linear switched reference models. The effectiveness of the proposed control architecture is proven in two alternative frameworks, that is, analyzing Carathéodory and Filippov solutions of discontinuous differential equations. Numerical and experimental data verify the applicability of the theoretical results to problems of practical interest. The proposed numerical simulation involves the design of a model reference adaptive control law to regulate the roll dynamics of a reconfigurable delta-wing aircraft. The proposed flight tests involve an aerial robot tasked with autonomously mounting a camera of unknown inertial properties to a vertical surface.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-020-01260-7