我所柳向斌老师参与完成的论文《Adaptive trajectory tracking control for VTOL UAVs with unknown time-varying mass using an extended I&I estimator》于2024-01在《International Journal of Adaptive Control and Signal Processing》正式发表。论文摘要如下：
Abstract: Summary This article presents an adaptive control scheme for vertical takeoff and landing unmanned aerial vehicles subject to time‐varying mass based on the immersion and invariance scheme in an extended form. For the varying mass parameter in the position control, a generalized I&I adaptive law is proposed with higher dimension to estimate the mass and its derivatives. The stability of the resulting estimation error manifold, which is in a cascade form, is guaranteed by introducing smooth saturation functions in the position control law. The attitude control is designed by employing a smooth function with positive integrable time‐varying function to compensate unknown time‐varying moment of inertia to achieve asymptotic attitude tracking. Simulation and experimental results verify the effectiveness of the proposed method under different cases, and the robustness to time‐varying parameter is assured.
引用信息：Qi Han, Zhitao Liu, Hongye Su, Xiangbin Liu. Adaptive trajectory tracking control for VTOL UAVs with unknown time-varying mass using an extended I&I estimator. International Journal of Adaptive Control and Signal Processing, 2024-01. DOI: 10.1002/acs.3746