四旋翼飞行器全局鲁棒轨迹跟踪控制算法研究  

Global Robust Control for Trajectory Tracking of a Quadrotor Aircraft

作　　者：董晓丹[1,2] 邓小龙[1] DONG Xiaodan;DENG Xiaolong(School of Electronical and Information Engineering,Jiangsu Vocational College of Information Technology,Wuxi Jiangsu 214153,China;School of Internet of Things Engineering,Jiangnan University,Wuxi Jiangsu 214122,China)

机构地区：[1]江苏信息职业技术学院电子信息工程学院,江苏无锡214153 [2]江南大学物联网工程学院,江苏无锡214122

出　　处：《机床与液压》2020年第22期39-44,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(61701197);2019年度江苏省高职院校教师专业带头人高端研修项目;江苏高校“青蓝工程”资助项目(苏教师函[2020]10号);2019年度江苏省高校优秀科技创新团队项目。

摘　　要：针对四旋翼飞行器轨迹跟踪控制性能易受模型参数不确定性和未知外部干扰影响的问题,提出一种基于自适应反步法的全局鲁棒控制策略。该方法利用单一虚拟变量表达的线性化参数模型描述系统内部不确定性和外部干扰组成的集总干扰,并通过反步法设计的自适应算法在线估计虚拟变量,从而降低计算量,提高控制器的实时性。基于Lyapunov理论证明了该方法对集总干扰的鲁棒性及系统全部变量的全局一致最终有界性。最后,通过仿真算例验证了该控制策略的有效性和可行性,结果表明:该控制策略能有效克服集总干扰影响,实现四旋翼飞行器的精确轨迹跟踪。A global robust control scheme based on adaptive back stepping method was proposed for trajectory tracking of a quadrotor aircraft subjected to the compounded uncertain term caused by model uncertainties and unknown external disturbances.The compounded uncertain term was transformed into a linear parameter form with single virtual variable.And a novel adaptive law was designed to update the virtual variable,which significantly reduced the computational complexity and improved the real time property of the controller.Based on the Lyapunov theory,the robustness of the proposed method to the compounded uncertain and the global uniform final boundedness of all the variables in the system were proved.Finally,the effectiveness and feasibility of the novel global robust control strategy were verified by numerical simulation.Simulation results show that the controller achieves superior performances in trajectory tracking control of a quadrotor subjected to the compounded uncertain.

关 键 词：四旋翼飞行器 轨迹跟踪控制 自适应控制 鲁棒控制 集总干扰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]