アダプティブ・オブザーバ設計とそのＶＴＯＬ機飛行制御系への適用

Abstract

The subject of modern control theory has received increased interest in recent years, partly because of its importance as an analytical tool for the study of advanced control technology such as CCV, and of the corresponding active control approaches. However, the main disadvantage of the modern control technique is its dependence on the accessibility of all the state variables and parameters of the plant to be controlled or identified. In this report, an adaptive observer scheme is developed to estimate the state vector and to identify all the parameters of a single-input single-output n-th order linear system where only the input and output can be observed, and is based on the new canonical form method without LIAPUNOV'S direct method. The approach is proved to be asymptotically stable and thus ensuring the convergence of the identification algorithm.Numerical computations are done for the parameter identification and state estimation problems of VTOL aircraft and for the synthesis of a state feedback controller.