2019 12th Asian Control Conference (ASCC)

1 / 2018-09-26 14:36:55

Multi-Loop Adaptive Control of Mobile Object Path

Model Reference Adaptive Control,Adaptive control,estimation

The algorithms of a reference model adaptive control, an astatic control, and an adaptive control with disturbances estimation are considered. A mobile object is described by equations of kinematics and dynamics in three-dimensional space. The novel structure of the control system is proposed. Asymptotic stability of the closed-loop adaptive system is proved by the method of Lyapunov. Analysis of the errors of disturbances estimator is performed. Simulation and comparative study of the reference model adaptive control, the astatic control, and the adaptive control with disturbances estimation are carried out.