Multi-Loop Adaptive Control of Mobile Object Path

The algorithms of a reference model adaptive control, static control, and 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, which allows separating the circuits of astaticism, estimation, and parametric adaptation. Asymptotic stability of the closed-loop adaptive system is proved by the Lyapunov method. It is proposed to perform the parametric adaptation by adjustment of the geometric mean root. The analysis of errors of disturbances estimation is performed. The simulation and comparative study of the reference model adaptive control, astatic control, and adaptive control with disturbances estimation are carried out.