无人翼伞飞行器路径跟踪反步控制方法  

Backstepping Control Method for Path Following of Unmanned Parafoil Vehicle

作　　者：张昊[1] 陈自力[1] 蔚建斌[1] 苏立军[1] ZHANG Hao CHEN Zili WEI Jianbin SULijun(Department of UAV Engineering, Ordnance Engineering College, Shijiazhuang 050003, Chin)

机构地区：[1]军械工程学院无人机工程系,石家庄050003

出　　处：《上海交通大学学报》2016年第12期1845-1852,共8页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金项目(51175508);总装院校科技创新工程项目(ZYX12080007)资助

摘　　要：为实现无人翼伞飞行器的曲线路径跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法.首先,基于模拟对象跟踪建立翼伞飞行器的路径跟踪误差模型;其次,针对模型设计了可变增益反步跟踪控制器,通过合理设计增益参数,消除了部分复杂非线性项,避免了传统反步法中虚拟量的高阶导数问题,简化了控制器形式,以有利于工程实现;然后,根据Lyapunov理论设计反馈补偿项,在保证稳定性的同时提高了系统的鲁棒性;最后,将控制器应用于无人翼伞飞行器平面曲线的跟踪控制中.仿真与实验结果表明,所设计的控制器可以实现曲线路径的准确跟踪,且具有很好的鲁棒性.In order to implement the path following control for unmanned powered parafoil （UPP）, a backtepping tracking method was proposed. First, a variable-gain backstepping tracking controller was designed against path tracking error model based on simulation object. Next, by properly design of gain parameters, a part of complicated nonlinear terms were eliminated and higher derivatives of virtual control variables in traditional backstepping methods were avoided to make the controller simpler. Then, the feedback compensation term was designed by using the Lyapunov theory to improve system robustness while ensuring stability. Finally, the controller was applied to UPP planar curve path following control. The simulation and experimental results illustrate the good robustness of the proposed controller, and accurate tracking ability in curve path.

关 键 词：无人翼伞飞行器 路径跟踪 模拟对象 可变增益 反步法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]