新型六旋翼飞行器的轨迹跟踪控制  

Trajectory tracking control for novel six-rotor aircraft

作　　者：杨成顺[1] 杨忠[1] 许德智[1] 葛乐[2] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]南京工程学院电力工程学院,江苏南京211167

出　　处：《系统工程与电子技术》2012年第10期2098-2105,共8页Systems Engineering and Electronics

基　　金：高等学校博士学科点专项科研基金(20113218110013);江苏省普通高校研究生科研创新计划项目(CXLX11_0200)资助课题

摘　　要：针对新型六旋翼飞行器,提出一种轨迹跟踪控制策略。首先,给出了六旋翼飞行器的运动学模型和动力学模型,同时给出存在复合干扰情况下的运动学模型,并提出了一种新的复合干扰估计算法,该算法是由干扰估计误差驱动而非传统的状态跟踪或者预测误差。随后,设计了飞行器动力学和运动学模型的backstepping控制器,在动力学模型的控制器设计中将指令滤波和线性跟踪微分器用于其中,以提高系统对控制指令的响应速度。最后,通过仿真验证实验,验证了所提干扰估计算法和轨迹跟踪策略的正确性和有效性。A trajectory tracking control scheme is proposed for a novel six-rotor aircraft. Firstly, the kine- matics and dynamics models of the six-rotor aircraft are described. Then, the dynamics model with composite disturbance is also described. Next, a new algorithm for composite disturbance estimate is proposed which is driven by the disturbance error instead of state tracking or prediction errors. Then, the backstepping controllers for the kinematics and dynamics models of the six-rotor aircraft are designed, respectively. In order to improve the system＇s rapid response to the commands, a command filter and a linear tracking differentiator are employed in the controller design procedure of the dynamics model. Finally, the correctness and effectiveness of the pro- posed algorithm for composite disturbance estimate and trajectory tracking scheme are verified through simula- tion experiments.

关 键 词：六旋翼飞行器 轨迹跟踪 复合干扰 BACKSTEPPING 

分 类 号：V249.122.3[航空宇航科学与技术—飞行器设计]