Quaternion-Based Adaptive Trajectory Tracking Control of a Rotor-Missile with Unknown Parameters Identification

This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties. First, considering the uncertainty of structural and aerodynamic parameters, the six-degree-of-freedom (6DoF) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established, respectively, in the inertial and body-fixed reference frames. Next, a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6DoF dynamics. Then, a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix. As long as the finitely excited condition is satisfied, the precise identification of unknown parameters can be achieved. Finally, the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.