基于反步法的无人翼伞航迹跟踪控制  

Trajectory Tracking Control for Unmanned Parafoil Vehicle Based on Backstepping Method

作　　者：张昊 陈自力[2] 蔚建斌[2] 程欣[3] ZHANG Hao;CHEN Zi-li;WEI Jian-bin;CHENG Xin(Unit 69250 of PLA,Urumqi 830000,China;Ordnance Engineering Collage,Shijiazhuang 050003,China;North Automatic Control Technique Research Institute,Taiyuan 030006,China)

机构地区：[1]解放军69250部队 [2]军械工程学院 [3]北方自动控制技术研究所

出　　处：《火力与指挥控制》2017年第9期88-92,共5页Fire Control & Command Control

基　　金：国家自然科学基金(51175508);军队院校创新工程基金资助项目(ZYX12080007)

摘　　要：为实现无人翼伞飞行器的直线航迹跟踪控制,提出了一种基于模拟对象的可变增益反步跟踪控制方法。基于模拟对象方法得到翼伞飞行器的航迹跟踪误差模型,并针对该模型设计了可变增益反步跟踪控制律,在保证稳定性的同时提高了系统的跟踪精度。将控制器应用于无人翼伞飞行器平面航迹跟踪控制中,仿真实验表明,所设计的控制器可以实现航迹的精确跟踪,且具有很好的鲁棒性。In order to implement the planar trajectory tracking control for Unmanned ParafoilVehicle(UPV),a backtepping tracking method is proposed.A variable-gain backstepping trackingcontroller is designed against trajectory tracking error model based on simulation object,whichimproved system tracking accuracy while ensuring stability.In addition,the controller is applied toUPV planar trajectory tracking control.The simulation experiment illustrates the good robustness of theproposed controller,and accurate tracking ability in trajectory tracking.

关 键 词：无人翼伞飞行器 航迹跟踪 模拟对象 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] TJ760.6[自动化与计算机技术—控制科学与工程]