四翼飞行器轨迹快速跟踪预设性能反演控制  

Prescribed Performance Back-stepping Control of Fast Trajectory Tracking for Quad-rotor Aircraft

作　　者：潘世华[1] 江道根[1] 朱蓉[1] 尹湘源 PAN Shi-hua;JIANG Dao-gen;ZHU Rong;YINXiang-yuan(School of Information and Intelligent Engineering,Ningbo City College of Vocational Technology,Ningbo 315100,China)

机构地区：[1]宁波城市职业技术学院信息与智能工程学院,浙江宁波315100

出　　处：《控制工程》2021年第11期2199-2208,共10页Control Engineering of China

摘　　要：针对四翼飞行器飞行中的综合干扰和轨迹跟踪的预定性能问题,在基于飞控系统双闭环结构的基础上设计出新型预设性能反演控制算法,实现了高精度轨迹快速跟踪控制目标。首先,将飞控系统动力学模型进行解耦,构造出位置环和姿态环的双闭环控制结构;再依据有限时间性能函数对飞控系统变量误差进行坐标变换,转换成具有稳态和动态性能要求的系统变量;然后,运用反演控制算法结合非线性指数观测器估计综合干扰,以此求出总控制律。最后,通过仿真实验验证了控制算法的有效性和实用性。Aiming at the problems of integrated interference and prescribed performance on trajectory tracking in quad-rotor flight, a novel prescribed performance back-stepping control algorithm is designed based on the double closed-loop structure of the flight control system to achieve its high-precision fast trajectory tracking control target. Firstly, the dynamic model of the flight control system is decoupled, and a double closed-loop control structure of the position loop and the attitude loop is constructed. According to the finite-time performance function, the error of the flight control system variable is transformed into a system variable with steady-state and dynamic performance requirements. Then, the back-stepping control algorithm combined with the nonlinear exponential observer is used to estimate the integrated interference to obtain the total control law.Simulation experiments verify the effectiveness and practicability of the control algorithm.

关 键 词：四旋翼飞行器 有限时间预设性能控制 快速轨迹跟踪 反演控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]