基于跟踪微分器的四旋翼飞行器控制器  被引量:2

Quadrotor Aircraft Controller Based on Tracking Differentiator

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作  者:庄超玮 蒋炳炎[1,2] 赵党军[1] 韩竞择[1] 

机构地区:[1]中南大学航空航天学院,湖南长沙410083 [2]中南大学机电工程学院,湖南长沙410083

出  处:《计算机仿真》2015年第5期114-118,共5页Computer Simulation

基  金:湖南省自然科学基金(14JJ3042)

摘  要:研究小型四旋翼飞行器导航控制优化问题。针对当前许多控制方法需要四旋翼飞行器速度信号,四旋翼无人机无法获取速度信号情况下,传统控制方法便会失效,为解决上述问题,提出采用跟踪微分器的输出反馈控制器。跟踪微分器估算出四旋翼飞行器的速度值,实现无法获取速度信号下的位置和姿态控制,并对基于微分跟踪器的控制器进行了设计和仿真。仿真结果表明上述控制方法和跟踪微分器观测的速度信号的有效性和可行性。Navigation control problem of quadrotor aircraft was studied in the paper. Many control laws need ve- locity signal, these control laws were failed in the condition that velocity signal cannot obtained. In this paper, the output feedback controller using tracking differentiator was proposed in order to solve this problem. Tracking differentiator was use to estimate the velocities of quadrotor aircraft to achieve position and attitude control. In this paper, the research has been very detailed in both controller based tracking differentiator design and simulation. Simulation results show the excellent effectiveness of the proposed control method and the estimation accuracy of tracking differentiator.

关 键 词:四旋翼飞行器 输出反馈控制器 跟踪微分器 

分 类 号:V271.4[航空宇航科学与技术—飞行器设计]

 

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