四旋翼无人机动态面控制  

Dynamic surface control for quadrotor unmanned air vehicle

作　　者：方旭[1] 刘金琨[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《北京航空航天大学学报》2016年第8期1777-1784,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：高等学校博士学科点专项科研基金(20121102110008)~~

摘　　要：针对四旋翼无人机(UAV)飞行器系统欠驱动特点,引入动态面控制方法,对四旋翼UAV的位置和姿态进行控制。考虑到飞行器速度和角速度难以测量,设计高增益观测器得到UAV的速度和角速度的估计值。相对于反演法,动态面控制的设计更简洁,并且通过引入滤波器来求取控制信号中的系统状态的导数项。另外,常用的时标分离方法不能给出全局稳定性分析,本文引入动态面设计控制律保证系统所有信号半全局一致有界,同时给出系统全局稳定性证明。仿真结果表明,四旋翼UAV能快速精确完成目标跟踪。A dynamic surface control method is proposed to control position and attitude of quadrotor unmanned air vehicle （UAV） against its characteristics of underactuation. Considering that velocity and angular velocity are hard to measure, we design a high-gain observer for UAV to estimate velocity and angular veloci- ty. Compared with backstepping approach, the design of dynamic surface control is more concise. Dynamic surface control eliminates the problem of ＂explosion of complexity＂ by introducing filter. Traditional time scale separation principle cannot prove the stability of whole system. By introducing the dynamic surface control method, it is shown that the control strategy can guarantee semi-global stability of the closed-loop system and arbitrarily small tracking error by adjusting the controller parameters. The stability of whole system is also given. Simulation results indicate that the proposed control system can achieve accurate tracking control for quadrotor UAV.

关 键 词：动态面控制 高增益观测器 四旋翼无人机(UAV) 分离定理 全局稳定性分析 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TB273[一般工业技术—工程设计测绘]