四旋翼无人机反步积分自适应控制器设计  

Design of A Backstepping Integral Adaptive Controller for Quadrotor UAV

作　　者：王慧东[1] 周来宏 WANG Huidong;ZHOU Laihong(Department of Numerical Control Technology, Baotou Vocational and Technical College, Baotou 014030, Inner Mongolia, China;School of Mechanical and Electrical Engineering, Xinyu University, Xinyu 338004, Jiangxi, China)

机构地区：[1]包头职业技术学院数控技术系,内蒙古包头014030 [2]新余学院机电工程学院,江西新余338004

出　　处：《兵工学报》2021年第6期1283-1289,共7页Acta Armamentarii

基　　金：江西省教育厅科技项目(GJJ191047、GJJ191060)。

摘　　要：针对四旋翼无人机在实际应用过程中出现质量变化的情况,基于自适应控制理论设计质量观测器,用于实时观测无人机的质量并修正其质量参数。在经典反步控制器(CBC)基础上,结合质量观测器和第一类控制误差积分,提出反步积分自适应控制器(BIAC),用于无人机的轨迹跟踪控制。该控制器的设计过程基于Lyapunov稳定性理论,能够保证系统的控制误差渐进稳定。应用MATLAB/Simulink软件环境完成轨迹跟踪仿真实验。仿真结果表明:在无人机存在质量慢变或质量突变情况下,BIAC可以更好地估计无人机实时质量;与CBC相比,地球坐标系Exeyeze下ze轴轨迹误差减小80%左右,跟踪精度大为提高。For the quadrotor unmanned aerial vehicle(UAV)with mass varying in practical application,a mass observer based on adaptive control theory is designed to estimate the real-time mass and correct the mass parameter of UAV.A backstepping integral adaptive controller(BIAC)for trajectory tracking of UAV is developed with the mass observer and the first kind of control error integral on the basis of classical backstepping controller(CBC).The control errors of system are asymptotically stabilized because the design process of controller is based on Lyapunov theory.The trajectory tracking simulation experiment was made in MATLAB/Simulink simulation environment.The simulated results indicate that the real-time mass of UAV can be estimated by using BIAC very well in the case of slow mass change or mass mutation of UAV,and the track error of ze-axis in earth coordinate system Exeyeze with BIAC is decreased by about 80%compared with CBC.

关 键 词：四旋翼无人机 反步控制 自适应控制 质量观测器 误差积分 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] V279.2[自动化与计算机技术—控制科学与工程]