快速模型预测控制用于微型直升机航迹跟踪  

A Fast Model Predictive Control Approach to Trajectory Tracking of Miniature Coaxial Helicopter

作　　者：柯吉[1] 王伟[1] 李爱军[1] 王长青[1] 

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《航空工程进展》2015年第3期366-371,共6页Advances in Aeronautical Science and Engineering

基　　金：2011年年度国家国际科技合作专项陕西省科学技术研究发展计划项目(2013KW09-02)

摘　　要：为实现微型共轴无人直升机(MCUH)的航迹跟踪,考虑系统的状态和输入约束,利用非线性模型预测控制(NMPC)技术设计一种快速在线的控制器。首先,简化MCUH的非线性模型,利用系统的微分平坦特性生成满足直升机动力学的可行航迹,沿着该航迹对系统进行线性化,得到近似直升机非线性动力学的线性时变(LTV)模型。然后,将传统输出航迹跟踪NMPC问题转化为LTV-MPC优化问题,降低问题的复杂度,为确保航迹跟踪误差系统的指数渐近稳定,分别设计终端域和终端罚值。最后,通过数值仿真,验证快速在线NMPC策略的可行性。结果表明:设计的预测控制器误差控制精度高、求解速度快,可实现对有约束的时变航迹的跟踪。Utilizing nonlinear model predictive eontrol（NMPC） technique, a fast online controller is designed to ensure trajectory tracking of miniature coaxial unmanned helicopter（MCUH） with constraints（system states and control inputs）. First, the nonlinear model of MCUH is simplified. And then, utilizing the differential flatness of MCUH, feasible trajectories are generated with respect to the dynamics of MCUH. The system of MCUH is further linearized along the generated trajectories, a set of linear time varying（LTV） models are employed to approximate the nonlinear dynamic behavior of MCUH, and then applied in the conversion from classical NMPC schemes to LTV-MPC schemes for output trajectory tracking, resulting in reduction of the complexity of the problem solving. Afterwards, the terminal region and the end penalty are designed to ensure the exponentially asymptotically stable of the trajectory tracking error system. Finally, the feasibility of the fast online NMPC method is verified by numerical simulation. The results show that the proposed NMPC control scheme is available to the time-varying trajectory tracking of MCUH with constraints, which has good control accuracy and fast solution speed.

关 键 词：非线性模型预测控制 微型直升机 航迹跟踪 线性时变模型 凸优化 终端代价 

分 类 号：TN964.3[电子电信—信号与信息处理]