Abstract:

Consedering uncertainties of model characteristics of the Martian unmanned vehicle, a robust adaptive parameter regulation method with regard to the flight control is presented according to the guardian mapping theory in this paper. In this method, the constraint relation between unknown parameters of the controller and closed loop system poles is established. Under variations of flight altitude and speed, the closed loop system pole assignment is made to ensure stable flight of the Martian unmanned vehicle. Furthermore, in the design process, the controller structure is fixed. Thus, as long as an initial gain of the controller is given, the robust adaptive parameter adjustment of the system can be realized. The simulation result shows that gains given by this method can make control action meet the requirements for the stable flight of the Martian unmanned vehicle under variations of flight altitude and speed.

Key words: Guardian mapping, Mars unmanned vehicle, Robustness, Adaptive parameter regulation