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access icon free Model-free adaptive control method for a class of unknown MIMO systems with measurement noise and application to quadrotor aircraft

  • Author(s): Shida Liu 1 ; Zhongsheng Hou 2 ; Xin Zhang 3 ; Honghai Ji 1
    • View affiliations
  • Source: Volume 14, Issue 15, 15 October 2020, p. 2084 – 2096
    DOI:  10.1049/iet-cta.2020.0073 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 16/01/2020, Accepted 18/06/2020, Revised 06/05/2020, Published 19/06/2020

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.

Inspec keywords: linear systems; control system synthesis; nonlinear control systems; MIMO systems; attitude control; adaptive control; linearisation techniques; Jacobian matrices; helicopters; robust control

Other keywords: dynamic linearisation data model; robust model-free adaptive control algorithm; control system design; model-free adaptive control method; adaptive decreasing factor; unknown MIMO systems; input–output data; mathematical theory; unknown multiple-input multiple-output systems; practical quadrotor aircraft; altitude adjustment; pseudoJacobian matrix; data-driven control method; measurement noise; Ro-MFAC stability

Subjects: Algebra; Linear control systems; Multivariable control systems; Self-adjusting control systems; Control system analysis and synthesis methods; Stability in control theory; Aerospace control; Nonlinear control systems; Spatial variables control

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