四旋翼无人机L_1自适应块控反步姿态控制器设计  

Quadrotor UAV L_1 adaptive block backstepping attitude controller

作　　者：甄红涛[1] 齐晓慧[1] 李杰[1] 苏立军[1] 田庆民[1] 

机构地区：[1]军械工程学院无人机工程系,石家庄050003

出　　处：《控制与决策》2014年第6期1076-1082,共7页Control and Decision

摘　　要：针对四旋翼无人机的姿态控制问题,提出一种L1自适应块控反步控制方法.将四旋翼姿态运动模型转化为一类多输入多输出不确定非线性系统的形式;根据该系统严格反馈的结构特点,对外回路设计了块控反步控制器;针对内回路存在的外部干扰和内部参数摄动等不确定性,引入L1自适应控制思想补偿其影响.稳定性分析表明闭环系统内所有信号一致有界.仿真和姿态稳定实验验证了所提控制策略的有效性和鲁棒性.An L1 adaptive block backstepping attitude controller is proposed for the attitude control problem of a quadrotor UAV. The attitude kinematical model of quadrotor is translated into a class of multi-input multi-output uncertain nonlinear system. According to the strict feedback architecture of the system, the block backstepping controller is designed for the out-loop subsystem. In order to compensate the influence of the existing uncertainties of exterior disturbances and interior parameters perturbation in the inner-loop subsystem, the L1 adaptive control algorithm is introduced. The stability analysis shows that the closed-loop system signals are uniformly bounded. The simulation and attitude stabilization experiments show the effectiveness and robustness of the proposed control architecture.

关 键 词：四旋翼 姿态控制 L1自适应控制 块控反步法 不确定性 

分 类 号：V249[航空宇航科学与技术—飞行器设计]