倾转四旋翼无人机固定时间位姿一体化控制  

Fixed-Time Integrated Attitude-Position Control of a Tilt Quadrotor UAV

作　　者：熊航 李波 秦轲 巩文全 XIONG Hang;LI Bo;QIN Ke;GONG Wenquan(Institute of Logistics Science and Engineering,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学物流科学与工程研究院,上海201306

出　　处：《应用科学学报》2022年第6期1034-1046,共13页Journal of Applied Sciences

基　　金：国家自然科学基金(No.62073212,No.61703272);中国博士后科学基金(No.2019M661467);上海海事大学研究生拔尖创新人才培养项目(No.2019YBR018)资助。

摘　　要：针对存在参数不确定性和外部干扰的倾转四旋翼无人机位姿一体化控制问题,提出一种新颖的基于非奇异终端滑模和对偶四元数原理的固定时间控制方法。首先,针对倾转四旋翼无人机跟踪控制系统设计了一种基于对偶四元数的非奇异终端滑模面。然后,考虑到无人机受到外部干扰和参数不确定性的影响,设计了一个基于浸入与不变流形原理的自适应律来估计不确定参数,解决了估计值偏离真实值的问题,进而提出一种固定时间控制律实现无人机轨迹跟踪控制。数值仿真结果验证了所提控制方案的可行性和有效性,该方案对外部干扰和参数不确定性具有较强的鲁棒性。A novel fixed-time control method based on non-singular terminal sliding mode and dual quaternion is proposed for the integrated attitude-position control of a tilt quadrotor unmanned aerial vehicle(UAV)in presence of parameter uncertainties and external disturbances.Firstly,considering the tilt quadrotor UAV tracking control system,a dual quaternion-based non-singular terminal sliding mode surface is constructed,and a novel fixed-time integrated attitude-position control law is designed.Furthermore,for the UAV tracking control system under external disturbances and parameter uncertainties,an immersion and invariance manifold-based adaptive law is established to estimate uncertain parameters,which can solve the problem of the estimated value deviating from the true value.And then,a fixed-time control scheme incorporating adaptive law is proposed to achieve UAV trajectory tracking control.Numerical simulation results verify that the proposed control scheme has effective performance and strong robustness to external disturbances and parameter uncertainties.

关 键 词：倾转四旋翼无人机 对偶四元数 位姿一体化控制 非奇异终端滑模 浸入与不变流形 

分 类 号：V249[航空宇航科学与技术—飞行器设计]